A well-rounded paper on how to translate symbolic statements into actionable constraints for #robotics control and #motionplanning: https://www.frontiersin.org/articles/10.3389/frobt.2023.917637/full
In short: symbolic statements are produced by higher-level decision-making systems (e.g. from a #pddl planner working with #semanticmapping) and given to lower-level actions.
