function geometrypic(d,r,D,lo,td,w,dw,tw,ow,l,tl,tr);
%
%  Make a picture of the initial geometry
%
figure;
%  d vector
x1=0;
y1=0;
x2=d*cos(td);
y2=d*sin(td);
x=[x1 x2];
y=[y1 y2];
plot(x,y)
axis([-45 5 -45 5])
hold on;
%  offset
x1=x2;
y1=y2;
x2=x1+lo*sin(td);
y2=y1-lo*cos(td);
x=[x1 x2];
y=[y1 y2];
plot(x,y)
%  the link
x1=x2;
y1=y2;
x2=x1+l*cos(tl);
y2=y1+l*sin(tl);
x=[x1 x2];
y=[y1 y2];
plot(x,y)
%  the arm
x1=x2;
y1=y2;
x2=x1+r*cos(tr);
y2=y1+r*sin(tr);
x=[x1 x2];
y=[y1 y2];
plot(x,y)
%  back to the beginning
x1=x2;
y1=y2;
x2=x1+D;
y2=y1;
x=[x1 x2];
y=[y1 y2];
%  down to the wheel
x1=x2;
y1=y2;
x2=x1+(w)*cos(td);
y2=y1+(w)*sin(td);
x=[x1 x2];
y=[y1 y2];
plot(x,y)
%  over to the wheel
x1=x2;
y1=y2;
x2=x1+(ow)*sin(td);
y2=y1-(ow)*cos(td);
x=[x1 x2];
y=[y1 y2];
plot(x,y)
%  draw the wheel
x1=x2;
y1=y2;
x2=x1+(dw/2)*cos(td);
y2=y1+(dw/2)*sin(td);
x3=x2+(tw)*sin(td);
y3=y2-(tw)*cos(td);
x4=x3-(dw)*cos(td);
y4=y3-(dw)*sin(td);
x5=x4-(tw)*sin(td);
y5=y4+(tw)*cos(td);
x=[x1 x2 x3 x4 x5];
y=[y1 y2 y3 y4 y5];
fill(x,y,'k')
hold off