1 joints=[0.585488 0.701759 0 0 0.373439 0 0.621533 0 ];
2 ee=[-0.283376 0.0174093 -0.0186781];
3 xdhat=[-0.284138 0.0172657 -0.0193173];
4 axisangle=[-0.0794663 0.282421 -0.955993 2.61605];
5 odhat=[-0.0655931 0.36986 -0.926769 2.75409];
6 center=[-0.349641 0.0174093 -0.0357526];
7 dim=[0.0567596 0.0291011 0.0934563];
8 c1=[-0.348521 0.038474 -0.0298282];
9 c2=[-0.373331 0.0285907 -0.00393636];
10 c3=[-0.356781 0.000305945 -0.0367632];
11 n1=[0.694898 0.719022 0.0111208];
12 n2=[0.316398 0.313965 0.895164];
13 n3=[0.612977 -0.784495 0.0939495];
14 rotmat=[-0.288178 0.156305 -0.944734;
15 0.126413 0.984163 0.124268;
16 0.949196 -0.0836148 -0.303373];
19 drawResults(joints, ee, axisangle, center, c1, c2, c3, n1, n2, n3, hand, xdhat, odhat, cloud);
