Hand-space planning predicts __________, whereas joint-space planning predicts ____________.

A) Straight paths in external spatial coordinates, curved paths in intrinsic, joint coordinates
B) Curved paths in external spatial coordinates, straight paths in intrinsic, joint coordinates
C) Curved paths in external spatial coordinates, curved paths in intrinsic, joint coordinates
D) Straight paths in external spatial coordinates, straight paths in intrinsic, joint coordinates