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Flange
Provided by GE Corporate Research & Development Center
The flange benchmark is a motion planning problem containing a narrow passage. It is representative of a type of problem that might occur in a maintainabilty study of a mechicanical CAD design.
The environment consists of a fixed rectangular part with a circular opening (the obstacle, 990 triangles) and an elbow shaped curved pipe (the robot, 5306 triangles) that must be inserted into the opening in the obstacle. The models are given in world coordinates in a configuration in which the `robot' (the curved pipe) is inserted into the `obstacle'.
The models are available in BYU format.
Versions
The different versions of this problem were obtained by scaling the elbow. Thus, the hardest version is the original problem, and the easiest version is the 0.85 scaled version. By incorporating user input collected with a PHANToM haptic device, we were able to solve the original version of the problem.
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