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A program has been developed which takes a specification of a set of bodies and of spatial relations that are to hold between them in some goal state, and produces expressions denoting the positions of the bodies in the goal state together with residual equations linking the variables in these expressions.

We use a representation of 3-D bodies derived from that used by Lang and Braid [3]. Body models are built up from two kinds of primitives: the half-space H, defined as the set of points and the i defined as the set of points _ Bodies are represented as boolean combinations of sets resulting from transformations of the (perhaps complemented) primitives by… (More)

The network reduction systen of RAPT, an offline object level language for programming robot assembly tasks is described in this paper. The task description is converted into a relational network with the positions of bodies as nodes, and rela tionships between positions as links. Rewrite rules based on the intersection and conposition of relations are… (More)

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