Constraint Satisfaction for Motion Feasibility Checking

Table 5

Mapping pose references to CSP variables.

Action	Bounded parameters	Pose references	CSP variables
MoveBase	pr2,	Oinit,	Breach
ForPickUp	objeect03	Binit,
		Breach
PickUpGeneral	pr2,	Oinit,	Hpre,
	rgripper,	Hinit,	Hgrasp,
	object03	Hpre,	Hpost
		Hgrasp,
MoveBase	pr2,	Breach,	Bplace
ForPutDown	object03,	Bplace
	table02
PutDownGeneral	pr2,	Oplace,	Hlow,
	rgripper,	Hinit,	Hplace,
	object03	Hlow,	Hret
	table02	Hplace,
		Hret