Before revision:  However, most existing algorithms do not take sliding contactsinto account or consider them only for specialized scenarios. We propose a method to extend constraint-based planning framework using contact transitions for sliding contacts.
After revision:  However, most existing algorithms concentrate on the control and learning aspect of sliding contacts, but do not embed the problem into a principled framework to provide guarantees on completeness or optimality. To address this problem, we propose a method to extend constraint-based planning framework using contact transitions for sliding contacts.