Benchmark / Kinematic 2D / ClutteredRetrieval2D

ClutteredRetrieval2D

Environment demonstration

Description

A 2D environment where the goal is to retrieve a target block and place it inside a target region.

The target block may be initially obstructed.

The robot has a movable circular base and a retractable arm with a rectangular vacuum end effector. Objects can be grasped and ungrasped when the end effector makes contact.

Variants

This environment has 3 variant(s).

ClutteredRetrieval2D-o1

This variant has 1 obstruction.

ClutteredRetrieval2D-o10

This variant has 10 obstructions.

ClutteredRetrieval2D-o25

This variant has 25 obstructions.

References

Similar environments have been considered by many others, especially in the task and motion planning literature, e.g., "Combined Task and Motion Planning Through an Extensible Planner-Independent Interface Layer" (Srivastava et al., ICRA 2014).

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