, and this is exactly what is happening. We are creating artificially those forces and making the robot move away. But if you have a global plan, you need to deal with the full plan so that you will not reach a local minima, and we then apply this technique to modify all the intermediate configurations so that a robot like this would be moving to a goal position through this plan. And when an obstacle or when the world is changed, the trajectory is moving, the hand is moving, and all of ...

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