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
0.002,0.249999999999913,0.9999993223229,1.57079700176132,1.57079545652522,-1.5707956491178,8.70269716351503e-07,6.7496635452126e-07
0.004,0.250000000005317,0.999996609828846,1.57079970340221,1.57079197314014,-1.57079293662376,4.35364647000001e-06,3.37661479353802e-06
0.006,0.250000000069342,0.999990505439807,1.57080578333657,1.57078413376369,-1.57078683223476,1.21929275623507e-05,9.45663670180122e-06
0.008,0.250000000390752,0.999979652177805,1.57081659299971,1.57077019531257,-1.57077597897283,2.6130902489352e-05,2.02667378256507e-05
0.01,0.250000001469771,0.999962693225846,1.57083348349264,1.5707484142151,-1.57075902002099,4.79104038692621e-05,3.71586995448357e-05
0.012,0.250000004321685,0.999938272011552,1.57085780537543,1.57071704602619,-1.57073459880692,7.92743770766243e-05,6.14844627211257e-05
0.014,0.250000010748276,0.999905032313492,1.5708909084047,1.57067434493832,-1.57070135910937,0.000121965968571637,9.45962341467464e-05
0.016,0.250000023667198,0.999861618390179,1.57093414121488,1.57061856318858,-1.57065794518726,0.000177728632909719,0.000137846615630581
0.018,0.250000047499444,0.999806675131712,1.57098885094334,1.57054795036174,-1.57060300193173,0.000248306258410532,0.000192588755778474
0.02,0.250000088615133,0.999738848234052,1.5710563827991,1.57046075258932,-1.57053517504088,0.000335443311459109,0.000260176524546053
0.022,0.250000155837912,0.999656784395864,1.57113807957493,1.57035521164458,-1.57045311121753,0.00044088499940409,0.000341964710668075
0.024,0.250000261008343,0.999559131537894,1.5712352811025,1.57022956393351,-1.57035545839001,0.000566377452009496,0.000439309242097627
0.026,0.250000419606772,0.999444539044817,1.57134932365028,1.57008203938163,-1.57024086595608,0.000713667921406858,0.000553567429621316
0.028,0.250000651436237,0.999311658029475,1.57148153926362,1.5699108602166,-1.57010798505013,0.000884505000484163,0.000686098233853168
0.03,0.250000981366146,0.99915914161943,1.57163325504652,1.56971423964657,-1.56995546883394,0.00108063885963709,0.000838262555850229
0.032,0.250001440137529,0.99898564526571,1.57180579238442,1.56949038043402,-1.56978197281106,0.00130382150179617,0.00101142355163674
0.034,0.250002065230851,0.998789827073657,1.57200046610725,1.56923747336512,-1.56958615516518,0.00155580703563159,0.00120694697097161
0.036,0.250002901797504,0.998570348155707,1.57221858359183,1.56895369561439,-1.56936667712271,0.00183835196682487,0.00142620152074542
0.038,0.250004003656267,0.99832587300597,1.57246144380258,1.56863720900437,-1.56912220333997,0.00215321550728441,0.00167055925344866
0.04,0.250005434356188,0.998055069896422,1.57273033626954,1.56828615816021,-1.56885140231523,0.00250215990216965,0.00194139598121259
0.042,0.250007268307558,0.997756611294517,1.57302654000216,1.56789866855889,-1.56855294682614,0.00288695077457718,0.00224009171598722
0.044,0.250009591982804,0.997429174301983,1.57335132233768,1.5674728444727,-1.56822551439295,0.00330935748773114,0.00256803113648916
0.046,0.250012500708199,0.99707199281458,1.5737053908275,1.56700748555696,-1.56786833945785,0.00377044136769867,0.00292605109072483
0.048,0.250016083603827,0.996686281967905,1.57408748320265,1.56650395072498,-1.56748263781732,0.00426871405256183,0.00331301006055872
0.05,0.250020430919184,0.996273434206366,1.5744961598244,1.5659638248122,-1.56706980271328,0.00480246004122252,0.00372759060550077
0.052,0.250025633908619,0.995834842120738,1.57492998019918,1.56538869142435,-1.56663122768133,0.00536996406205006,0.00416847570485169
0.054,0.250031783692519,0.995371897991795,1.57538750408525,1.56478013501692,-1.56616830610017,0.00596951069649039,0.00463434831107265
0.056,0.250038970168209,0.99488599335771,1.57586729254991,1.56413974287151,-1.56568243076169,0.00659938402243554,0.00512389092294426
0.058,0.25004728096993,0.9943785186053,1.57636790897784,1.56346910696895,-1.56517499346128,0.00725786727738968,0.00563578517830169
0.06,0.250056800477393,0.993850862585161,1.57688792003087,1.56276982575956,-1.56464738460857,0.00794324254144105,0.00616871146619708
0.062,0.250067608872629,0.993304412250724,1.57742589655942,1.56204350583053,-1.56410099285821,0.00865379044002418,0.00672134855840227
0.064,0.25007978124502,0.992740552321238,1.5779804144656,1.56129176347049,-1.56353720476104,0.00938778986643393,0.00729237326022261
0.066,0.250093386744532,0.992160664968665,1.57855005551796,1.56051622613134,-1.56295740443543,0.0101435177240324,0.00788046008064738
0.068,0.250108487783359,0.99156612952845,1.57913340811758,1.55971853378741,-1.56236297325902,0.010919248688072,0.00848428092191383
0.07,0.250125139286311,0.99095832223412,1.57972906801527,1.55890034019194,-1.56175528958103,0.011713254987041,0.00910250478861007
0.0720000000000001,0.250143387990412,0.990338615975651,1.58033563897934,1.55806331403094,-1.56113572845519,0.0125238062034277,0.00973379751648673
0.0740000000000001,0.250163271794316,0.989708380081501,1.58095173341353,1.55720913997425,-1.56050566139353,0.0133491690937844,0.0103768215211895
0.0760000000000001,0.250184819158247,0.989068980124236,1.58157597292431,1.556339519624,-1.55986645614138,0.0141876074279683,0.0110302355671626
0.0780000000000001,0.250208048555296,0.988421777749621,1.58220698883701,1.55545617236019,-1.55921947647365,0.0150373818474275,0.0116926945570092
0.0800000000000001,0.250232967974984,0.987768130529062,1.58284342265983,1.55456083608344,-1.55856608201271,0.015896749742399,0.0123628493416266
0.0820000000000001,0.250259574480117,0.987109391835274,1.58348392649512,1.55365526785475,-1.55790762806833,0.0167639651478828,0.0130393465514625
0.0840000000000001,0.250287853818022,0.986446910741014,1.58412716339672,1.55274124443218,-1.55724546549966,0.017637278658258,0.0137208284492661
0.0860000000000001,0.250317780087308,0.985782031940758,1.58477180767277,1.55182056270426,-1.55658094059987,0.0185149373604086,0.0144059328047278
0.0880000000000001,0.250349315461412,0.985116095695143,1.58541654513265,1.55089504002003,-1.55591539500352,0.0193951847852332,0.0150932927914228
0.0900000000000001,0.2503824125247,0.984450386239577,1.58606012312441,1.54996644252518,-1.55525011409184,0.0202763290998467,0.0157815902117251
0.0920000000000001,0.250417060457035,0.983785250774172,1.58670220080629,1.54903525108903,-1.55458544658045,0.0211579108645194,0.0164704682938852
0.0940000000000001,0.250453264050706,0.983120688507673,1.58734277476063,1.54810146488693,-1.5539213933712,0.0220399298632816,0.0171599288281249
0.0960000000000001,0.250491028110505,0.982456698651251,1.58798184157159,1.54716508307865,-1.55325795536161,0.0229223858895967,0.0178499736070507
0.0980000000000001,0.250530357453793,0.981793280418534,1.58861939782517,1.54622610480824,-1.55259513344485,0.0238052787463989,0.0185406044257214
0.1,0.250571256910563,0.981130433025651,1.58925544010919,1.54528452920397,-1.55193292850982,0.0246886082461314,0.0192318230817154
0.102,0.250613731323512,0.980468155691259,1.5898899650133,1.54434035537826,-1.55127134144121,0.0255723742107852,0.0199236313751982
0.104,0.250657785548104,0.97980644763659,1.59052296912896,1.54339358242756,-1.55061037311953,0.0264565764719367,0.020616031108991
0.106,0.250703424452646,0.979145308085482,1.59115444904944,1.5424442094323,-1.5499500244212,0.0273412148707874,0.0213090240886387
0.108,0.25075065291835,0.97848473626442,1.5917844013698,1.54149223545675,-1.54929029621858,0.0282262892582018,0.0220026121224789
0.11,0.250799475839408,0.977824731402575,1.59241282268692,1.54053765954899,-1.54863118938001,0.0291117994947469,0.0226967970217108
0.112,0.250849898123063,0.977165292731841,1.59303970959946,1.53958048074076,-1.54797270476992,0.0299977454507311,0.0233915806004647
0.114,0.250901924689682,0.976506419486877,1.59366505870787,1.53862069804743,-1.54731484324884,0.0308841270062436,0.0240869646758713
0.116,0.250955560472827,0.975848110905142,1.59428886661435,1.53765831046784,-1.54665760567347,0.031770944051194,0.0247829510681323
0.118,0.251010810419331,0.975190366226941,1.5949111299229,1.53669331698427,-1.54600099289674,0.0326581964853515,0.0254795416005906
0.12,0.251067679489371,0.974533184695462,1.59553184523928,1.53572571656231,-1.54534500576787,0.0335458842183851,0.0261767380998005
0.122,0.251126172656548,0.973876565556816,1.596151009171,1.53475550815078,-1.54468964513243,0.0344340071699037,0.0268745423955994
0.124,0.251186294907958,0.973220508060081,1.59676861832732,1.53378269068162,-1.54403491183238,0.0353225652694958,0.0275729563211785
0.126,0.251248051244275,0.972565011457343,1.59738466931925,1.53280726306982,-1.54338080670617,0.0362115584567702,0.028271981713155
0.128,0.251311446679825,0.971910075003735,1.59799915875953,1.53182922421328,-1.54272733058875,0.0371009866813968,0.0289716204116439
0.13,0.251376486242669,0.971255697957483,1.59861208326261,1.53084857299276,-1.54207448431169,0.0379908499031465,0.0296718742603302
0.132,0.25144317497468,0.970601879579948,1.59922343944471,1.52986530827177,-1.54142226870317,0.0388811480919331,0.0303727451065417
0.134,0.251511517931629,0.969948619135666,1.59983322392371,1.52887942889643,-1.54077068458811,0.0397718812278536,0.0310742348013222
0.136,0.251581520183261,0.969295915892398,1.60044143331923,1.52789093369542,-1.54011973278819,0.0406630493012304,0.0317763451995045
0.138,0.251653186813383,0.968643769121165,1.60104806425257,1.52689982147987,-1.53946941412194,0.0415546523126517,0.0324790781597844
0.14,0.251726522919947,0.967992178096301,1.60165311334674,1.52590609104323,-1.53881972940476,0.0424466902730143,0.0331824355447946
0.142,0.251801533615132,0.96734114209549,1.6022565772264,1.52490974116118,-1.53817067944904,0.043339163203565,0.0338864192211791
0.144,0.251878224025433,0.966690660399818,1.60285845251792,1.52391077059156,-1.53752226506419,0.0442320711359427,0.0345910310596681
0.146,0.25195659929175,0.966040732293811,1.60345873584931,1.52290917807422,-1.53687448705672,0.0451254141122208,0.0352962729351529
0.148,0.252036664569467,0.965391357065486,1.60405742385025,1.52190496233091,-1.53622734623029,0.0460191921849503,0.0360021467267612
0.15,0.252118425028552,0.964742534006397,1.60465451315208,1.52089812206524,-1.53558084338578,0.0469134054172017,0.0367086543179334
0.152,0.252201885853638,0.964094262411677,1.60525000038776,1.51988865596248,-1.53493497932138,0.0478080538826086,0.0374157975964982
0.154,0.252287052244118,0.963446541580088,1.6058438821919,1.51887656268955,-1.53428975483262,0.0487031376654111,0.0381235784547495
0.156,0.252373929414236,0.962799370814067,1.60643615520072,1.51786184089481,-1.53364517071248,0.0495986568604986,0.038831998789523
0.158,0.252462522593178,0.962152749419776,1.60702681605207,1.51684448920805,-1.53300122775141,0.0504946115734544,0.0395410605022734
0.16,0.252552837025169,0.961506676707143,1.6076158613854,1.51582450624029,-1.53235792673745,0.0513910019205988,0.0402507654991522
0.162,0.252644877969564,0.960861151989918,1.60820328784178,1.51480189058373,-1.53171526845625,0.0522878280290339,0.0409611156910854
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0.174,0.253233676851224,0.956999473653459,1.61169366226201,1.50861082893974,-1.52787285987377,0.0576779441542014,0.0452368735720911
0.176,0.253337951935798,0.956357766020052,1.6122696626616,1.50756974343639,-1.52723472253653,0.0585778250655826,0.0459517940529339
0.178,0.25344399616405,0.955716601035382,1.61284401736916,1.50652601328977,-1.5265972341407,0.0594781431485964,0.0466673751975969
0.18,0.253551814935947,0.955075978049783,1.61341672303974,1.5054796369173,-1.52596039545385,0.0603788986294108,0.0473836189635446
0.182,0.25366141366759,0.954435896417903,1.61398777632989,1.50443061271642,-1.52532420724193,0.0612800917454314,0.0481005273138157
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0.186,0.25388597275583,0.953157354655793,1.61512491240264,1.50232461431826,-1.5240537852989,0.0630837918891866,0.0495363456478457
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0.19,0.254117717084327,0.951880970674558,1.61625539886969,1.50020800486973,-1.52278597440927,0.0648892457056655,0.0509748460186038
0.192,0.254236297428412,0.951243586285743,1.61681814015825,1.49914571677896,-1.52215305000907,0.0657926309554471,0.0516951069369269
0.194,0.25435669057369,0.950606739472115,1.6173792090369,1.49808077081711,-1.5215207806493,0.066696455503527,0.0524160443394802
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0.22,0.256089307038139,0.942376377651029,1.62451940050973,1.48399378345065,-1.51336123076075,0.0784863112117477,0.0618507114043543
0.222,0.256235668169171,0.941746994685927,1.62505670630992,1.48289143420053,-1.51273821105846,0.0793963246214993,0.0625813330023838
0.224,0.256383926922752,0.941118140613612,1.6255922898494,1.48178639861865,-1.51211585767603,0.0803067833342367,0.0633126618448056
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