Fig. 3From: Integrated assembly and motion planning using regrasp graphsThe first phase of the assembly planning component. The first row shows the placements of the Object A in Fig. 2. The second row shows the states after attaching Object B to the placements. The third row shows the feasibility along the pre-defined assembly directions. Three cases in the third row are feasible and outputted as \(\mathbf {C}\) by the first phaseBack to article page