cmvr-es/data/ik_movel_scurve.csv

t,q1,q2,q3,q4,q5,q6,q7
0,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0
0.002,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0
0.004,0.250001842320363,1.00000035621738,1.57079547429742,1.57079444210524,-1.57079668301227,3.34430494936117e-07,1.42912469251269e-07
0.006,0.250009211599068,1.00000178109261,1.57079206431392,1.57078690333631,-1.57079810788309,1.67216263610067e-06,7.14561905387093e-07
0.008,0.250025792451452,1.0000049871135,1.57078439190875,1.57076994101371,-1.57080131385445,4.68215140661819e-06,2.00076916853545e-06
0.01,0.25005526942355,1.00001068691258,1.57077075230822,1.57073978540339,-1.57080701340708,1.00336083670537e-05,4.28734398236013e-06
0.012,0.250101326918013,1.00001959342197,1.57074944107367,1.5706926662341,-1.57081591909138,1.83962760218046e-05,7.8600730098651e-06
0.014,0.250167649092643,1.00003242008538,1.57071875433882,1.57062481231678,-1.57082874357675,3.04408038203672e-05,1.3004703478399e-05
0.016,0.250257919731615,1.00004988112752,1.57067698911111,1.57053245106106,-1.57084619971424,4.68392258226527e-05,2.00069223188819e-05
0.018,0.250375822089508,1.00007269188062,1.57062244363736,1.57041180788839,-1.57086900061264,6.8265540079134e-05,2.91523307867103e-05
0.02,0.25052503870832,1.00010156916829,1.57055341783365,1.57025910554178,-1.57089785972805,9.53963898036617e-05,4.07264145527739e-05
0.022,0.250709251207703,1.00013723174661,1.57046821377978,1.57007056329152,-1.57093349096721,0.000128911846446335,5.50145092939761e-05
0.024,0.25093214004874,1.00018040080262,1.57036513627856,1.56984239603644,-1.5709766088048,0.000169496294800861,7.23017618654089e-05
0.026,0.251197384271681,1.00023180051036,1.57024249348038,1.56957081330007,-1.57102792841521,0.000217839420297711,9.28730871779383e-05
0.028,0.251508661208166,1.00029215864445,1.57009859757347,1.56925201812088,-1.57108816581923,0.000274637298630594,0.000117013120891842
0.03,0.251869646168614,1.00036220725132,1.56993176554023,1.56888220583562,-1.57115803804603,0.000340593587825559,0.000145006167898724
0.032,0.252284012105614,1.00044268337735,1.56974031997957,1.56845756275503,-1.5712382633105,0.000416420822772189,0.000177136146195836
0.034,0.252755429254375,1.00053432985264,1.56952258999442,1.56797426473065,-1.57132956120555,0.000502841812073582,0.000213686525014057
0.036,0.253287564751547,1.00063789612751,1.56927691214216,1.56742847561208,-1.57143265290722,0.000600591136810968,0.000254940254750321
0.038,0.253884082234046,1.00075413915643,1.56900163144327,1.56681634559378,-1.571548261389,0.000710416750429909,0.000301179684129656
0.04,0.254548641419916,1.00088382432053,1.56869510244007,1.56613400945109,-1.57167711163798,0.000833081678402873,0.000352686456771557
0.042,0.255284897673769,1.00102772637452,1.56835569029184,1.56537758466548,-1.57181993086087,0.00096936581556545,0.000409741374578847
0.044,0.256096501559966,1.00118663039675,1.56798177188531,1.56454316943985,-1.57197744866114,0.00112006781800965,0.000472624208638559
0.046,0.25698709838616,1.00136133272898,1.56757173694767,1.5636268406016,-1.57215039717532,0.00128600708927412,0.000541613444858038
0.048,0.257960327706088,1.00155264235986,1.56712398963253,1.56262465129037,-1.57233951158172,0.00146802596391654,0.000616986357907511
0.05,0.25901982283555,1.00176138210273,1.56663694990973,1.56153262858032,-1.57254553040044,0.00166699193133438,0.000699018857582903
0.052,0.260169210372693,1.0019883896871,1.5661090548831,1.56034677099537,-1.57276919568873,0.00188379993879461,0.000787985203963878
0.054,0.261412109710082,1.00223451898233,1.5655387602637,1.55906304586521,-1.57301125333204,0.00211937482346646,0.000884157781179529
0.056,0.262752132550084,1.00250064125313,1.56492454189639,1.55767738653966,-1.57327245334267,0.0023746738510965,0.000987806843381478
0.058,0.264192882428002,1.00278764644405,1.56426489733812,1.55618568945554,-1.57355355016504,0.00265068936227716,0.00109920022985152
0.06,0.265737954247884,1.00309644448937,1.56355834748601,1.55458381105016,-1.57385530298695,0.00294845152742228,0.00121860304593726
0.062,0.267390933836477,1.00342796664498,1.56280343825317,1.55286756451418,-1.57417847605577,0.00326903121175137,0.00134627730627171
0.064,0.269155397521335,1.00378316683865,1.5619987422898,1.55103271637648,-1.57452383899889,0.00361354295180039,0.00148248153649196
0.066,0.271034911739794,1.00416302303465,1.5611428607472,1.54907498291238,-1.57489216714748,0.00398314804522704,0.00162747032942876
0.068,0.273033032686143,1.00456853860907,1.56023442508162,1.54699002636592,-1.57528424186254,0.0043790577559646,0.00178149385149385
0.07,0.275153306005132,1.00500074373146,1.5592720988951,1.54477345097585,-1.57570085086258,0.00480253663710795,0.00194479729474488
0.0720000000000001,0.277399266540752,1.00546069674887,1.55825457980963,1.5424207987938,-1.57614278855189,0.00525490597429168,0.00211762026986112
0.0740000000000001,0.279774438150143,1.00594948556802,1.55718060137111,1.53992754528202,-1.5766108563487,0.00573754735275206,0.00230019613501494
0.0760000000000001,0.282282333593441,1.00646822903136,1.55604893497889,1.53728909467663,-1.57710586301241,0.00625190635175666,0.00249275125537641
0.0780000000000001,0.28492645451149,1.00701807828284,1.5548583918365,1.53450077510092,-1.57762862496925,0.00679949637064798,0.00269550418774032
0.0800000000000001,0.287710291504475,1.00760021811934,1.55360782491869,1.53155783341149,-1.57817996663587,0.00738190259138794,0.00290866478451633
0.0820000000000001,0.290636961340257,1.00821579201921,1.55229629365924,1.5284558144833,-1.57876064876227,0.0080007093413499,0.00313240550072555
0.0840000000000001,0.293704335855572,1.00886487094147,1.55092524192205,1.52519573812858,-1.5793704003301,0.00865645872516008,0.00336648940686858
0.0860000000000001,0.296908573121487,1.00954717080892,1.54949689362425,1.52178041113848,-1.58000861146009,0.00934935295292093,0.00361054168475044
0.0880000000000001,0.300245837642274,1.01026240719637,1.54801347594706,1.51821261851234,-1.58067467243228,0.0100796063044685,0.00386418116996403
0.0900000000000001,0.303712301919588,1.01101029304587,1.54647721672544,1.51449512663298,-1.58136797317742,0.0108474415190109,0.00412702031074811
0.0920000000000001,0.307304147961211,1.01179053649422,1.54489034191344,1.51063068636732,-1.58208790279819,0.0116530862970873,0.00439866516278821
0.0940000000000001,0.311017568729452,1.01260283881528,1.54325507312735,1.50662203609744,-1.58283384912085,0.0124967699139056,0.00467871542248941
0.0960000000000001,0.31484876952446,1.01344689247894,1.54157362526907,1.5024719046872,-1.583605198278,0.0133787199429329,0.00496676450076238
0.0980000000000001,0.318793969297783,1.01432237932795,1.5398482042319,1.49818301438949,-1.58440133432277,0.0142991590884302,0.00526239963889535
0.1,0.322849401891661,1.015228968873,1.53808100469095,1.4937580836989,-1.58522163887456,0.0152583021254375,0.00556520206763711
0.102,0.32701131719969,1.0161663167061,1.53627420798018,1.48919983015459,-1.58606549079628,0.0162563529455337,0.00587474721019104
0.104,0.331275982244604,1.01713406303155,1.53442998005796,1.48451097309827,-1.58693226590272,0.0172935017065123,0.00619060492941906
0.106,0.335639682169149,1.01813183131323,1.53255046956309,1.47969423639167,-1.58782133669963,0.0183699220839392,0.00651233981917903
0.108,0.340098721136147,1.01915922703648,1.53063780596284,1.47475235109838,-1.58873207215267,0.0194857686223861,0.00683951153936941
0.11,0.34464942313408,1.0202158365824,1.52869409779455,1.46968805813435,-1.58966383748541,0.0206411741839657,0.00717167519393315
0.112,0.349288132684715,1.02130122621178,1.52672143100214,1.46450411089169,-1.59061599400533,0.0218362474916401,0.0075083817507786
0.114,0.354011215449523,1.02241494115569,1.5247218673686,1.45920327784012,-1.59158789895642,0.0230710707646193,0.00784917850230876
0.116,0.358815058731886,1.02355650480918,1.52269744304558,1.45378834511041,-1.59257890539705,0.0243456974430299,0.00819360956501266
0.118,0.363696071872331,1.02472541802433,1.52065016718065,1.44826211906423,-1.59358836210158,0.0256601499989021,0.008541216416363
0.12,0.368650686534288,1.02592115849861,1.51858202064295,1.44262742885442,-1.59461561348388,0.0270144178304039,0.00889153846708243
0.122,0.373675356878174,1.0271431802541,1.51649495484737,1.43688712898005,-1.59565999954108,0.028408455236147,0.0092441136666864
0.124,0.378766559621848,1.02839091320318,1.5143908906776,1.43104410184024,-1.59672085581554,0.029842179466293,0.0095984791400826
0.126,0.383920793985801,1.02966376279578,1.51227171750777,1.42510126029066,-1.5977975133731,0.0313154688471123,0.00995417185290487
0.128,0.389132439035416,1.0309605766285,1.51014016859368,1.41906403208699,-1.59888885015124,0.0328275393694689,0.0103105827840801
0.13,0.394393098808599,1.03227945999131,1.5080000631315,1.41294118320728,-1.59999314805991,0.0343767034910838,0.0106669203107345
0.132,0.399694836020666,1.033618566465,1.5058549654811,1.40674111753033,-1.60110876649478,0.0359612723489954,0.0110224379770385
0.134,0.405030176915752,1.03497610371369,1.50370818616009,1.40047186364808,-1.60223414483986,0.0375795633954864,0.011376435455188
0.136,0.410392110969218,1.03635033828429,1.50156278538738,1.39414106653408,-1.60336780395946,0.0392299073945067,0.0117282589581785
0.138,0.415774086150845,1.03773959945933,1.49942157876802,1.38775598354351,-1.60450834678907,0.0409106547468421,0.0120773011659201
0.14,0.421170000430154,1.03914228222015,1.49728714473416,1.38132348422386,-1.60565445813446,0.0426201811283066,0.0124230007266122
0.142,0.42657419016316,1.04055684938462,1.49516183338634,1.37485005343265,-1.60680490378529,0.0443568924387481,0.0127648413940003
0.144,0.43198141594933,1.04198183298805,1.49304777641304,1.36834179728575,-1.60795852904412,0.0461192290709096,0.0131023508586034
0.146,0.437386846492176,1.04341583497793,1.49094689780066,1.36180445149229,-1.60911425676545,0.0479056695173839,0.0134350993275664
0.148,0.442786040939981,1.04485752729382,1.4888609250818,1.35524339166883,-1.61027108499168,0.0497147333412469,0.0137626979037592
0.15,0.448174930126541,1.04630565140208,1.48679140090333,1.34866364526346,-1.61142808426523,0.0515449835416281,0.0140847968103465
0.152,0.453549797077296,1.04775901735317,1.48473969472809,1.34206990475832,-1.61258439468812,0.0533950283496603,0.0144010835024751
0.154,0.458907257094704,1.04921650242608,1.48270701451423,1.33546654185659,-1.61373922279214,0.0552635224931243,0.0147112807031349
0.156,0.464244237688956,1.05067704942034,1.48069441824316,1.32885762239553,-1.61489183827549,0.0571491679698173,0.0150151443957416
0.158,0.469557958576464,1.05213966465222,1.47870282519217,1.32224692176043,-1.61604157065429,0.0590507143704104,0.0153124618016734
0.16,0.474845911929095,1.05360341570695,1.47673302686921,1.3156379406061,-1.61718780587073,0.0609669587914467,0.0156030493669124
0.162,0.480105843021937,1.05506742899422,1.47478569754699,1.30903392072057,-1.61832998289332,0.0628967453783252,0.0158867507781568
0.164,0.485335731396195,1.05653088714955,1.47286140434986,1.30243786089249,-1.61946759033905,0.0648389645367334,0.0161634350252857
0.166,0.490533772626531,1.05799302631962,1.47096061686153,1.29585253266698,-1.62060016314195,0.0667925518491565,0.0164329945239143
0.168,0.495698360758408,1.05945313336497,1.4690837162338,1.28928049589621,-1.62172727928815,0.0687564867308961,0.0166953433089443
0.17,0.50082807146055,1.06091054300935,1.46723100378656,1.2827241140101,-1.62284855663301,0.0707297908575757,0.016950415307515
0.172,0.505921645920092,1.06236463496105,1.4654027090981,1.27618556894938,-1.62396364981244,0.0727115263934614,0.0171981626975632
0.174,0.510977975493128,1.06381483102725,1.46359899759148,1.26966687571855,-1.62507224725731,0.0747007940471486,0.0174385543562951
0.176,0.515996087110802,1.06526059223957,1.46181997762848,1.26316989652938,-1.62617406831665,0.0766967309783177,0.0176715744012447
0.178,0.520975129430561,1.06670141600493,1.46006570712712,1.25669635451767,-1.62726886049336,0.0786985085763708,0.0178972208252095
0.18,0.525914359713424,1.06813683329348,1.4583361997222,1.25024784702624,-1.62835639679346,0.0807053301288722,0.018115504225208
0.182,0.530813131400832,1.06956640587183,1.45663143049105,1.24382585845659,-1.62943647318829,0.0827164283948316,0.0183264466246588
0.184,0.535670882358609,1.07098972358797,1.45495134126864,1.23743177269962,-1.63050890618749,0.084731063095021,0.0185300803872241
0.186,0.540487123750597,1.07240640171113,1.45329584557758,1.2310668851637,-1.6315735305189,0.0867485183286836,0.0187264472201739
0.188,0.54526142950029,1.07381607832826,1.45166483319964,1.22473241442463,-1.63263019691059,0.0887680999231974,0.0189155972646791
0.19,0.549993426295309,1.07521841179622,1.45005817441603,1.21842951352881,-1.63367876996873,0.0907891327204559,0.0190975882701343
0.192,0.55468278408642,1.07661307824739,1.44847572394389,1.21215928098644,-1.63471912614449,0.0928109578009326,0.0192724848494072
0.194,0.559329207029992,1.07799976914393,1.4469173245969,1.2059227714976,-1.63575115178179,0.0948329296435486,0.0194403578118137
0.196,0.563932424820101,1.0793781888748,1.44538281069794,1.19972100645986,-1.63677474123723,0.096854413216551,0.0196012835706063
0.198,0.56849218435373,1.08074805238733,1.44387201127166,1.19355498431187,-1.63778979506226,0.0988747809915702,0.0197553436218292
0.2,0.573008241669545,1.08210908284378,1.4423847530452,1.18742569077398,-1.6387962182374,0.10089340986981,0.0199026240915238
0.202,0.57748035409739,1.08346100929107,1.44092086328537,1.18133410905379,-1.63979391844655,0.102909678005867,0.0200432153484704
0.204,0.581908272551671,1.08480356433026,1.43948017250095,1.17528123009259,-1.6407828043792,0.104922961510877,0.0201772116799003
0.206,0.586291733897091,1.08613648176994,1.43806251703955,1.16926806293759,-1.64176278404674,0.106932631012464,0.0203047110279236
0.208,0.590630453309381,1.08745949424521,1.43666774160949,1.16329564533564,-1.64273376309773,0.108938048044185,0.0204258147847799
0.21,0.594924116546526,1.08877233078131,1.43529570175815,1.15736505465657,-1.64369564311545,0.110938561231623,0.020540627645439
0.212,0.59917237203715,1.09007471427752,1.43394626634078,1.15147741926967,-1.6446483198792,0.112933502235891,0.0206492575165592
0.214,0.603374822681679,1.09136635888301,1.43261932001573,1.14563393051492,-1.6455916815681,0.114922181407675,0.0207518154813593
0.216,0.607531017248159,1.09264696723191,1.43131476580591,1.13983585543318,-1.64652560688365,0.116903883095872,0.0208484158205918
0.218,0.611640441227448,1.09391622749866,1.43003252777044,1.13408455044681,-1.64744996306321,0.118877860543898,0.0209391760905339
0.22,0.615702506990877,1.09517381022828,1.42877255383642,1.12838147621652,-1.64836460375254,0.120843330293354,0.0210242172597587
0.222,0.619716543066404,1.0964193648871,1.42753481884801,1.12272821394221,-1.64926936669954,0.122799465998217,0.0211036639074507
0.224,0.623681782314903,1.09765251606879,1.42631932789977,1.117126483429,-1.65016407122443,0.124745391532273,0.0211776444872216
0.226,0.627597348744652,1.09887285927698,1.42512612003332,1.11157816330648,-1.65104851541256,0.126680173246775,0.0212462916618221
0.228,0.631462242646331,1.10007995618832,1.42395527239265,1.10608531387447,-1.65192247296484,0.12860281120284,0.0213097427159108
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