function [Q] = MoveTo(P0, P1, T)
% move from point P0 to P1 in T seconds

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

TIP = P0 * (1-a)  + P1 * a;

Q = [];

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