t = [0:0.01:1]';
z = 0*t;
xt = [ z; z ; z ; z ] + 50;
yt = [ t; z+1 ; 1-t ; z ]*50 - 25;
zt = [ z; t ; 1+z ; 1-t]*50 - 20;
TIP = [xt, yt, zt, 0*xt+1]';
q = [];
 for i=1:length(xt)
 Q = RhinoInverseKinematics(TIP(:,i));
 Q = [Q; -(Q(2)+Q(3)); 0];
 q = [q; Q'];
 Rhino(Q, TIP);
 pause(0.01);
 end