theta 0[deg] Polar angle d1 0.02[m] Scale factor d2 0.01[m] Scale factor d3 0.01[m] Scale factor d4 0.01[m] Scale factor d5 0.01[m] Scale factor q1 0 Optimization parameter, q1 q2 0 Optimization parameter, q2 q3 0 Optimization parameter, q3 q4 0 Optimization parameter, q4 q5 0 Optimization parameter, q5