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Pentomino Puzzle
Created by Ian Remmler, DSMFT Group, CS Dept, Texas A&M University
The Pentomino Puzzle environment was created to test disassembly planning methods. The puzzle is "solved" in its initial (assembled) configuration, and the goal is to disassemble the puzzle by moving each piece an arbitrary distance away from all other pieces.
The Pentomino Puzzle consists of twelve pieces. Each piece is one of
the twelve possible ways to combine five cubes (hence the name
pentomino) in a flat configuration. The twelve pieces can be combined
in several ways to fit into a 3x4x5 container. One of these solutions
is the starting configuration that is to be disassembled.
The model is available in BYU format,
with each piece represented in a separate file. The "pentomino.query"
file gives the pieces in the starting (assembled) configuration.
 Start |
 Goal |
Tar File (BYU and env files)
( BYU format env format ) |
We solved this problem using an extension (work-in-progress) to our OBPRM motion planning framework which allows dissassembly problems to be solved using probibilistic motion planning methods.
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