How to draw a trajectory on a sphere?

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.

Answer 1

[George]

Anyone?

[Ronald Vílchez]

No