\indexentry{pick-and-place}{xiii}
\indexentry{configuration space}{xiii}
\indexentry{regrasping }{xiv}
\indexentry{+movies}{xvi}
\indexentry{+parallel motion-planner movie}{xvi}
\indexentry{+potential-field movie}{xvi}
\indexentry{+configuration space movie}{xvii}
\indexentry{robot programming|task-level}{4}
\indexentry{~+Record/Playback}{4}
\indexentry{robot programming|record/playback}{4}
\indexentry{~+Off-line (graphical) programming}{5}
\indexentry{robot programming|off-line}{5}
\indexentry{robot programming|graphical}{5}
\indexentry{pick-and-place}{6}
\indexentry{coordinate transformation}{6}
\indexentry{grasping}{7}
\indexentry{grasp point}{7}
\indexentry{choosing a grasp}{8}
\indexentry{uncertainty}{11}
\indexentry{guarded moves}{15}
\indexentry{pick-and-place|constraints}{17}
\indexentry{+pick-and-place}{17}
\indexentry{+pickup pose}{17}
\indexentry{+putdown pose}{17}
\indexentry{approximation|polyhedral}{17}
\indexentry{polyhedral approximation}{27}