How to draw a trajectory on a sphere?

2014 2 21
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更新时间：2020 8 14
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I have a path which creates a semicircle in the xy plane. With mstraj i convert to trajectory and i want this trajectory to draw it on a sphere with a robotic arm. I am thinking to create an homogeneous transformation with the rotational part changing, but i am confused. I would be grateful if someone told me an idea.

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