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ROBOTICS LAB · INTERACTIVE TUTORIAL 03 Give the robot a destination, put an obstacle in the way and let it search for a route. In this follow-up, the same 3-DOF arm moves beyond following a prescribed curve: it plans a collision-checked path through joint space, turns that path into a timed trajectory and tracks it with feedback. Part 1 established forward and inverse kinematics . Part 2 added trajectory tracking, obstacle constraints and Lyapunov analysis. Its local safety filter could slow or stop when a reference was obstructed. Here we introduce a planner that can explore a detour before the arm starts moving. Joint-space RRT Whole-arm collision checks Timed motion & feedback 01 / CHOOSE A GOAL Let the robot find a way around the obstacle Press Plan route in the default scene. The dashed direct route is blocked. A rapidly-exploring random tree, or RRT, grows through valid joint configurations until it connects to the goal. Then press Play motion to follow the checke...