Obstruction2D

Description

A 2D environment where the goal is to place a target block onto a target surface. The block must be completely contained within the surface boundaries.

The target surface 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 5 variant(s).

Obstruction2D-o0

This variant has no obstructions.

Obstruction2D-o1

This variant has 1 obstruction.

Obstruction2D-o2

This variant has 2 obstructions.

Obstruction2D-o3

This variant has 3 obstructions.

Obstruction2D-o4

This variant has 4 obstructions.

References

Similar environments have been used many times, especially in the task and motion planning literature. We took inspiration especially from the "1D Continuous TAMP" environment in PDDLStream.

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