Fig. 5
Each activity involves writing a digit using a robotic arm, defined by seven distinct waypoints. The left plot illustrates the waypoints in the end-effector space, while the right plot represents them in the joint space. Each digit is written by following a specific sequence of waypoints in the joint space, with the robot always starting and ending at waypoint 1. For example, to write the digit 7, the robot follows the sequence {1, 2, 5, 7, 1}.
