  We present a damage-aware planning approach which determines the best
sequence to manipulate a number of objects in a scene. This works on
task-planning level, abstracts from motion planning and anticipates the
dynamics of the scene using a physics simulation. Instead of avoiding
interaction with the environment, we take unintended motion of other objects
into account and plan manipulation sequences which minimize the potential
damage. Our method can also be used as a validation measure to judge planned
motions for their feasibility in terms of damage avoidance. We evaluate our
approach on one industrial scenario (autonomous container unloading) and one
retail scenario (shelf replenishment).
