Here we present the test results for different task goals involving multiple task point with different orientations. The green lines in the task descriptions indicate the task points with orientations required at that point. The simulation videos to the right show optimal configurations derived from this methodology.
| Spherical Goal | |
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| Circular Ring Goal | |
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| Horizontal Plane Goal | |
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| Solid Sphere Goal | |
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| Vertical Goal | |
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