function [Qnet] = CircleXY(P0, P1, T)
% Draw a cirle in the XY plane with center at P1
% starting at point P0
% in T seconds

t = [0:0.01:T];
a = t/T;
a = (1 - cos(pi*a))/2;

r = sqrt( (P0(1) - P1(1))^2  + (P0(2) - P1(2))^2 );

X0 = P1(1) + r;
Y0 = P1(2);
Z0 = P0(3);

dY = P0(2) - P1(2);
dX = P0(1) - P1(1);
Q0 = atan2(dY,dX);

X = P1(1) + r*cos(2*pi*a + Q0);
Y = P1(2) + r*sin(2*pi*a + Q0);
Z = P0(3) + a*0;
TIP = [X ; Y ; Z];

Qnet = [];

for i=1:length(TIP)
   Q = InversePuma(TIP(:,i));
   Qnet = [Qnet, Q];
   Puma(Q, TIP);
   end

end