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1 A3
2 position-controlled mobile robot object 2/32
3 position-controlled circular fingertip object Pointed fingers 3/32
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6 6/32
7 C-Obstacle (robot) Free C-Space Object Configuration: q obj 7/32
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11 11/32
12 r sphere l j 12/32
13 d j r c 13/32
14 r disk t disk 14/32
15 d ijkl 15/32
16 d ring 16/32
17 Stamp tool a sphere and a disk 17/32
18 18/32
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