function [XY] = RR(Qq, Qr, TIP)

x0 = 0;
y0 = 0;

x1q =  cos(Qq(1));
y1q =  sin(Qq(1));

x2q = x1q + cos(Qq(1) + Qq(2));
y2q = y1q + sin(Qq(1) + Qq(2));

x1r =  cos(Qr(1));
y1r =  sin(Qr(1));

x2r = x1r + cos(Qr(1) + Qr(2));
y2r = y1r + sin(Qr(1) + Qr(2));


clf;
plot([-1,2],[-0.5,1.5],'x');
hold on;
plot([-1,2],[0,0], 'g');
plot([0,0],[-0.5,1.5], 'g');

plot([x0, x1q, x2q], [y0, y1q, y2q], 'b.-');
plot([x0, x1r, x2r], [y0, y1r, y2r], 'r.-');
plot(TIP(1,:),TIP(2,:),'g');
pause(0.01);

XY = [x2q ; y2q];

   end