%%
refPoses = zeros(431,3);
index = 1;
refPoses(1,:) = [0.8,0.2,0];
for i=1:80
refPoses(index+i,:) = [0.8+0.01*i,0.2,0];
end
index = index+80;
for i=1:180
refPoses(index+i,:) = [1.6+0.6*sind(i),0.8-0.6*cosd(i),i];
end
index = index+180;
for i=1:80
refPoses(index+i,:) = [1.6-0.01*i,1.4,180];
end
index = index+80;
for i=1:90
refPoses(index+i,:) = [0.8-0.6*sind(i),0.8+0.6*cosd(i),i-180];
end
index = index+90;
startPose = refPoses(1,:);
clear i j index
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