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Describe the Bug2 algorithm for a two-joint manipulator. What are the critical differences between the Bug2 algorithm for a mobile base and the two-joint manipulator?

Describe the Bug2 algorithm for a two-joint manipulator. What are the critical differences between the Bug2 algorithm for a mobile base and the two-joint manipulator? What does a straight line mean in the arms configuration space? Can Bug2 be made to work for the two-joint arm?

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