Table 1 Initial (q₀) and final (q_fin) configurations for the four tasks considered

T.1

q₀

−0.31

−0.58

−0.8

0.47

−1.23

0.22

0.65

q_fin

−0.33

0.34

−0.39

0.44

−0.69

0.36

0.15

T.2

q₀

0.09

−0.79

−0.62

0.65

−1.50

0.06

0.76

q_fin

0.65

−0.40

0.07

0.79

−1.32

0.87

0.63

T.3

q₀

−0.48

−0.07

−0.71

0.03

−0.86

0.52

0.47

q_fin

−1.67

−0.68

−0.33

−0.21

−0.09

−0.26

0.52

T.4

q₀

−0.28

−0.86

−0.92

0.86

−1.52

−0.12

0.77

q_fin

0.65

−0.78

−0.12

2.18

−1.52

0.57

0.59