ClutteredStorage2D

Description

A 2D environment where the goal is to put all blocks inside a shelf.

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 4 variant(s).

ClutteredStorage2D-b1

This variant has 1 block to store.

ClutteredStorage2D-b15

This variant has 15 blocks (7 initially in the shelf, 8 initially outside).

ClutteredStorage2D-b3

This variant has 3 blocks (1 initially in the shelf, 2 initially outside).

ClutteredStorage2D-b7

This variant has 7 blocks (3 initially in the shelf, 4 initially outside).

References

Similar environments have been considered by many others, especially in the task and motion planning literature.

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