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The following is a function I wrote to generate a stick diagram of robot motion. Hope it is helpful to you all.

function [foot2] = stick(filename,user_frame_per_second,max_step)

global robot

foot2=[];

mov_traj = load(filename);

dt = mov_traj(2,1) - mov_traj(1,1);

frame_per_second = fix(1/dt);

if user_frame_per_second == 0

show_frame_per_second = frame_per_second;

else

show_frame_per_second = user_frame_per_second;

end

capture_frame_per_second = 20;

color0 = [0 0 0];

color1 = [0 0 0];

color2 = [0 0 0];

color3 = [1 1 1]*0.5;

color4 = [1 1 1]*0.5;

width = 2;

scrsz = get(0,'ScreenSize');

animation = figure;

%hold on

xxlim = [-0.8 0.8]

yylim = [ 0.0 1.6]

set(animation,'name','2D walking','Position',[100 100 450 450]);

h_axes = axes('Parent',animation,'Units','Pixels','Position',[50 40 400 400],'Ylim',yylim,'Xlim',xxlim);

%tx = text('Parent',h_axes,'Visible','off');

set(h_axes,'visible','on');

ground  = line('Parent',h_axes,'Color',[0 0 0],'Visible','off','LineWidth',2);

set(ground, 'Parent',h_axes,'Xdata',xxlim,'Ydata', [0 0],'visible','on');

idx =1

ss_flag = 0;

step_count = 0;

l_ankle_pos = zeros(2,1); l_knee_pos = zeros(2,1); l_hip_pos  = zeros(2,1); head_pos   = zeros(2,1);

r_knee_pos = zeros(2,1); r_ankle_pos = zeros(2,1);

r_ankle_pos_b_save = [-1,0]';

base = [0 0]';

for i = 1:size(mov_traj,1)

tt = mov_traj(i,1);

l_ankle_abs = mov_traj(i,2);

l_knee_abs  = l_ankle_abs + mov_traj(i,3);

l_hip_abs   = l_knee_abs + mov_traj(i,4);

r_hip_abs   = l_hip_abs + mov_traj(i,5);

r_knee_abs  = r_hip_abs + mov_traj(i,6);

%  r_knee_abs  = r_knee_abs;

l_ankle_pos_b =[0 0]';

l_knee_pos_b = [ -robot.calf_length * sin(l_ankle_abs) robot.calf_length* cos(l_ankle_abs)]';

l_hip_pos_b  = [l_knee_pos_b(1)-sin(l_knee_abs)*robot.thigh_length  l_knee_pos_b(2)+cos(l_knee_abs)*robot.thigh_length ]';

head_pos_b   = [l_hip_pos_b(1)-sin(l_hip_abs)*robot.torso_length l_hip_pos_b(2) + cos(l_hip_abs)*robot.torso_length]';

r_knee_pos_b = [l_hip_pos_b(1)+sin(r_hip_abs)*robot.thigh_length l_hip_pos_b(2) - cos(r_hip_abs)*robot.thigh_length]';

r_ankle_pos_b = [r_knee_pos_b(1)+sin(r_knee_abs)*robot.calf_length r_knee_pos_b(2) - cos(r_knee_abs)*robot.calf_length]';

if (r_ankle_pos_b_save(1) > 0 && r_ankle_pos_b(1) < 0) % switch

step_count = step_count +1;

if step_count >= max_step

break

end

ss_flag = 1;

tmp = color0; color0 = color4; color4=tmp;

tmp = color1; color1 = color3; color3=tmp;

set(l_calf,'Color',color0,'Visible','off');

set(l_thigh,'Color',color1,'Visible','off');

set(torso,'Color',color2,'Visible','off')

set(r_thigh,'Color',color3,'Visible','off');

set(r_calf,'Color',color4,'Visible','off');

%     hip_travel = hip_travel + r_ankle_pos_b_save(1);

%     ground_height = ground_height + r_ankle_pos_b_save(2);

base = base + r_ankle_pos_b_save;

%ground_height  =0 ;

%set(h_axes,'Ylim',[-0.05+ground_height 1.95+ground_height]);

base;

r_ankle_pos_b_save;

r_ankle_pos_b;

%pause

end

r_ankle_pos_b_save = r_ankle_pos_b;

%  drift = l_hip_pos(1);

%   l_ankle_pos(1) = l_ankle_pos(1) - drift;

%   l_knee_pos(1) = l_knee_pos(1) - drift;

%   l_hip_pos(1)  = l_hip_pos(1) - drift;

%   head_pos(1)   = head_pos(1) - drift;

%   r_knee_pos(1) = r_knee_pos(1) - drift;

%   r_ankle_pos(1) = r_ankle_pos(1) - drift;

l_ankle_pos = l_ankle_pos_b + base;

l_knee_pos = l_knee_pos_b  + base;

l_hip_pos  = l_hip_pos_b  + base;

head_pos   = head_pos_b  + base;

r_knee_pos = r_knee_pos_b  + base;

r_ankle_pos = r_ankle_pos_b  + base;

foot2 = [foot2,r_ankle_pos];

if (mod(i,fix(frame_per_second/show_frame_per_second)) == 1 )

torso   = line('Parent',h_axes,'Color',color2,'Visible','off','LineWidth',width);

r_thigh = line('Parent',h_axes,'Color',color3,'Visible','off','LineWidth',width);

r_calf  = line('Parent',h_axes,'Color',color4,'Visible','off','LineWidth',width);

l_calf  = line('Parent',h_axes,'Color',color0,'Visible','off','LineWidth',width);

l_thigh = line('Parent',h_axes,'Color',color1,'Visible','off','LineWidth',width);

if mod(step_count,2) == 1

set(l_calf, 'Parent',h_axes,'Xdata',[l_ankle_pos(1) l_knee_pos(1)],'Ydata', [l_ankle_pos(2) l_knee_pos(2)],'visible','on');

set(l_thigh, 'Parent',h_axes,'Xdata',[l_knee_pos(1) l_hip_pos(1)],'Ydata', [l_knee_pos(2) l_hip_pos(2)],'visible','on');

set(torso, 'Parent',h_axes,'Xdata',[l_hip_pos(1) head_pos(1)],'Ydata', [l_hip_pos(2) head_pos(2)],'visible','on');

set(r_thigh, 'Parent',h_axes,'Xdata',[l_hip_pos(1) r_knee_pos(1)],'Ydata', [l_hip_pos(2) r_knee_pos(2)],'visible','on');

set(r_calf, 'Parent',h_axes,'Xdata',[r_knee_pos(1) r_ankle_pos(1)],'Ydata', [r_knee_pos(2) r_ankle_pos(2)],'visible','on');

else

set(torso, 'Parent',h_axes,'Xdata',[l_hip_pos(1) head_pos(1)],'Ydata', [l_hip_pos(2) head_pos(2)],'visible','on');

set(r_thigh, 'Parent',h_axes,'Xdata',[l_hip_pos(1) r_knee_pos(1)],'Ydata', [l_hip_pos(2) r_knee_pos(2)],'visible','on');

set(r_calf, 'Parent',h_axes,'Xdata',[r_knee_pos(1) r_ankle_pos(1)],'Ydata', [r_knee_pos(2) r_ankle_pos(2)],'visible','on');

set(l_calf, 'Parent',h_axes,'Xdata',[l_ankle_pos(1) l_knee_pos(1)],'Ydata', [l_ankle_pos(2) l_knee_pos(2)],'visible','on');

set(l_thigh, 'Parent',h_axes,'Xdata',[l_knee_pos(1) l_hip_pos(1)],'Ydata', [l_knee_pos(2) l_hip_pos(2)],'visible','on');

end

stime=sprintf('time:%5.2f',tt);

%set(tx,'Parent',h_axes,'Position',[l_hip_pos(1),1.8],'String',stime,'visible','on');

%set(h_axes,'Xlim',[l_hip_pos(1)-1.0 l_hip_pos(1)+1.0]);

drawnow;

end

if l_ankle_pos(1) > xxlim(2)

break

end

end

xlabel('(m)')

ylabel('(m)')，