Constraint Satisfaction for Motion Feasibility Checking

Table 2

An example of a task plan skeleton to move an object to table02 from table01.

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1. (MOVEBASEFORPICKCUP pr2 object03 B_initB_reach)

2. (PICKUPGENERAL rgirpper object03 H_initH_preH_graspH_post)

3. (MOVEBASEFORPUTDOWN pr2 rgripper object03 table02 B_reachB_place)

4. (PUTDOWNGENERAL rgirpper object03 table02 O_placeH_initH_lowH_placeH_ret)

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