fold t theta1 theta2 omega1 omega2 omega1_ omega2_ ?1 ?2
0 0 -1.1336150169372559 -1.3008047342300415 -0.53853881359100342 -6.1550583839416504 -0.53853881359100342 -6.1550583839416504 51.116245269775391 5.443181037902832
0 0.010000228881835937 -1.1363970041275024 -1.3590512275695801 -0.084069892764091492 -5.9848003387451172 -0.084069892764091492 -5.9848003387451172 47.641456604003906 8.9308280944824219
0 0.019999504089355469 -1.1350358724594116 -1.4214876890182495 0.3925555944442749 -5.9327907562255859 0.3925555944442749 -5.9327907562255859 45.201389312744141 14.672550201416016
0 0.029999732971191406 -1.1299548149108887 -1.4771866798400879 0.83205729722976685 -5.7902741432189941 0.83205729722976685 -5.7902741432189941 43.804412841796875 19.968378067016602
0 0.039999961853027344 -1.1172082424163818 -1.5383765697479248 1.2634670734405518 -5.5186939239501953 1.2634670734405518 -5.5186939239501953 41.662338256835938 28.76396369934082
0 0.050000190734863281 -1.103708028793335 -1.5901204347610474 1.6706950664520264 -5.1934299468994141 1.6706950664520264 -5.1934299468994141 40.303825378417969 33.691188812255859
0 0.060000419616699219 -1.0849859714508057 -1.6409554481506348 2.0563535690307617 -4.7930150032043457 2.0563535690307617 -4.7930150032043457 38.834758758544922 35.407344818115234
0 0.06999969482421875 -1.0625312328338623 -1.6855686902999878 2.4508054256439209 -4.4685540199279785 2.4508054256439209 -4.4685540199279785 36.915672302246094 37.618698120117187
0 0.079999923706054688 -1.034978985786438 -1.730303168296814 2.8151500225067139 -4.1107640266418457 2.8151500225067139 -4.1107640266418457 34.534599304199219 42.547946929931641
0 0.090000152587890625 -1.0061712265014648 -1.7688742876052856 3.1370804309844971 -3.6536202430725098 3.1370804309844971 -3.6536202430725098 32.813377380371094 49.529243469238281
0 0.10000038146972656 -0.9724084734916687 -1.8048409223556519 3.4399459362030029 -3.0730845928192139 3.4399459362030029 -3.0730845928192139 32.464061737060547 55.243171691894531
0 0.10999965667724609 -0.93696242570877075 -1.8309808969497681 3.779076099395752 -2.5109317302703857 3.779076099395752 -2.5109317302703857 33.518695831298828 59.183162689208984
0 0.11999988555908203 -0.89758604764938354 -1.8529040813446045 4.1173553466796875 -1.9199497699737549 4.1173553466796875 -1.9199497699737549 33.489406585693359 63.055397033691406
0 0.13000011444091797 -0.85462862253189087 -1.8703892230987549 4.4743108749389648 -1.2710294723510742 4.4743108749389648 -1.2710294723510742 31.914020538330078 69.426910400390625
0 0.14000034332275391 -0.80770760774612427 -1.8811341524124146 4.7667989730834961 -0.54026597738265991 4.7667989730834961 -0.54026597738265991 29.006757736206055 77.708305358886719
0 0.14999961853027344 -0.75818610191345215 -1.8804173469543457 5.0500555038452148 0.27057170867919922 5.0500555038452148 0.27057170867919922 25.882064819335937 85.186042785644531
0 0.15999984741210938 -0.70746737718582153 -1.8749033212661743 5.2798209190368652 1.1946648359298706 5.2798209190368652 1.1946648359298706 23.864248275756836 91.916793823242188
0 0.17000007629394531 -0.65224599838256836 -1.859976053237915 5.5119032859802246 2.1208069324493408 5.5119032859802246 2.1208069324493408 20.828413009643555 98.018646240234375
0 0.18000030517578125 -0.59668666124343872 -1.831621527671814 5.7290873527526855 3.1304559707641602 5.7290873527526855 3.1304559707641602 16.705848693847656 102.66155242919922
0 0.18999958038330078 -0.53798133134841919 -1.7960178852081299 5.8668427467346191 4.203608512878418 5.8668427467346191 4.203608512878418 9.9514532089233398 107.83373260498047
0 0.19999980926513672 -0.47814533114433289 -1.7503596544265747 5.9376435279846191 5.286341667175293 5.9376435279846191 5.286341667175293 2.0818588733673096 112.70103454589844
0 0.21000003814697266 -0.41817453503608704 -1.6904265880584717 5.9051976203918457 6.4345512390136719 5.9051976203918457 6.4345512390136719 -7.0964565277099609 115.88295745849609
0 0.22000026702880859 -0.35970786213874817 -1.6201001405715942 5.8140029907226562 7.6500363349914551 5.8140029907226562 7.6500363349914551 -17.627468109130859 119.60903930664062
0 0.22999954223632813 -0.30194014310836792 -1.5394201278686523 5.5738401412963867 8.8159084320068359 5.5738401412963867 8.8159084320068359 -29.918064117431641 124.26771545410156
0 0.23999977111816406 -0.24556237459182739 -1.4433610439300537 5.2219491004943848 10.076114654541016 5.2219491004943848 10.076114654541016 -43.917667388916016 127.64875030517578
0 0.25 -0.19655527174472809 -1.3380006551742554 4.7053217887878418 11.434897422790527 4.7053217887878418 11.434897422790527 -57.889175415039063 132.23463439941406
0 0.26000022888183594 -0.15130285918712616 -1.2170040607452393 4.0523786544799805 12.722979545593262 4.0523786544799805 12.722979545593262 -74.722831726074219 136.11627197265625
0 0.26999950408935547 -0.11380381882190704 -1.0808537006378174 3.2641663551330566 14.104207992553711 3.2641663551330566 14.104207992553711 -91.692985534667969 141.53823852539062
0 0.27999973297119141 -0.084319151937961578 -0.93578553199768066 2.2063848972320557 15.547272682189941 2.2063848972320557 15.547272682189941 -108.12753295898437 153.06675720214844
0 0.28999996185302734 -0.06683880090713501 -0.77339953184127808 1.0436694622039795 17.099662780761719 1.0436694622039795 17.099662780761719 -116.08866119384766 159.85104370117187
0 0.30000019073486328 -0.064466133713722229 -0.59336751699447632 -0.24374930560588837 18.878591537475586 -0.24374930560588837 18.878591537475586 -105.01846313476562 149.81480407714844
0 0.31000041961669922 -0.071546860039234161 -0.39707958698272705 -1.3151997327804565 20.431102752685547 -1.3151997327804565 20.431102752685547 -71.596908569335938 109.85362243652344
0 0.31999969482421875 -0.094152592122554779 -0.18001598119735718 -1.8651038408279419 21.372293472290039 -1.8651038408279419 21.372293472290039 -15.21746826171875 35.233814239501953
0 0.32999992370605469 -0.11775556206703186 0.041479796171188354 -1.7254987955093384 21.345493316650391 -1.7254987955093384 21.345493316650391 46.303779602050781 -50.138015747070312
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0 0.35000038146972656 -0.13758960366249084 0.45220333337783813 0.46717402338981628 18.518804550170898 0.46717402338981628 18.518804550170898 121.84966278076172 -163.865234375
0 0.35999965667724609 -0.12420922517776489 0.62377655506134033 1.8018535375595093 16.667280197143555 1.8018535375595093 16.667280197143555 124.29302978515625 -171.99897766113281
0 0.39000034332275391 -0.014618813991546631 1.0477606058120728 5.0602459907531738 11.84325122833252 5.0602459907531738 11.84325122833252 81.110000610351563 -144.17866516113281
0 0.39999961853027344 0.039080072194337845 1.1610276699066162 5.7670049667358398 10.506044387817383 5.7670049667358398 10.506044387817383 65.727035522460938 -142.12117004394531
0 0.40999984741210938 0.10211217403411865 1.2570018768310547 6.2961211204528809 9.1419143676757812 6.2961211204528809 9.1419143676757812 50.480224609375 -141.32246398925781
0 0.42000007629394531 0.16646601259708405 1.3443570137023926 6.7840194702148438 7.6320829391479492 6.7840194702148438 7.6320829391479492 38.079753875732422 -144.72300720214844
0 0.43000030517578125 0.23649425804615021 1.4131916761398315 7.0757498741149902 6.2141084671020508 7.0757498741149902 6.2141084671020508 25.401908874511719 -143.58041381835937
0 0.43999958038330078 0.31108999252319336 1.4645369052886963 7.2811779975891113 4.7337970733642578 7.2811779975891113 4.7337970733642578 12.918702125549316 -138.88121032714844
0 0.44999980926513672 0.38358768820762634 1.5076173543930054 7.3176369667053223 3.4120371341705322 7.3176369667053223 3.4120371341705322 4.8347816467285156 -136.260986328125
0 0.46000003814697266 0.4569782018661499 1.5338339805603027 7.3090109825134277 2.0890581607818604 7.3090109825134277 2.0890581607818604 -0.15070039033889771 -132.30622863769531
0 0.47000026702880859 0.52943199872970581 1.549144983291626 7.3035726547241211 0.72342884540557861 7.3035726547241211 0.72342884540557861 -2.5922188758850098 -127.34079742431641
0 0.47999954223632813 0.60361838340759277 1.548225998878479 7.280674934387207 -0.53721034526824951 7.280674934387207 -0.53721034526824951 -5.0432348251342773 -120.81716918945312
0 0.48999977111816406 0.67544621229171753 1.5365928411483765 7.2021942138671875 -1.6418688297271729 7.2021942138671875 -1.6418688297271729 -6.8340506553649902 -114.28370666503906
0 0.5 0.74800485372543335 1.5132495164871216 7.1075387001037598 -2.7691516876220703 7.1075387001037598 -2.7691516876220703 -8.4078092575073242 -108.9959716796875
0 0.51000022888183594 0.81734848022460938 1.4845397472381592 7.048438549041748 -3.8747856616973877 7.048438549041748 -3.8747856616973877 -9.70318603515625 -102.25611877441406
0 0.51999950408935547 0.88804417848587036 1.4357949495315552 6.9371623992919922 -4.8705501556396484 6.9371623992919922 -4.8705501556396484 -14.142047882080078 -87.060569763183594
0 0.52999973297119141 0.95784848928451538 1.3815808296203613 6.802222728729248 -5.7039756774902344 6.802222728729248 -5.7039756774902344 -22.551023483276367 -66.547615051269531
0 0.53999996185302734 1.0246130228042603 1.3212014436721802 6.5235438346862793 -6.207585334777832 6.5235438346862793 -6.207585334777832 -32.989414215087891 -43.325687408447266
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0 0.57999992370605469 1.24931800365448 1.0576426982879639 4.2616801261901855 -6.1770644187927246 4.2616801261901855 -6.1770644187927246 -73.761505126953125 32.335887908935547
0 0.59000015258789063 1.2879533767700195 0.99756890535354614 3.4913396835327148 -5.7853641510009766 3.4913396835327148 -5.7853641510009766 -77.986671447753906 38.479820251464844
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