  Selecting an optimal robot, its base pose, and trajectory for a given task is
currently mainly done by human expertise or trial and error. To evaluate
automatic approaches to this combined optimization problem, we introduce a
benchmark suite encompassing a unified format for robots, environments, and
task descriptions. Our benchmark suite is especially useful for modular robots,
where the multitude of robots that can be assembled creates a host of
additional parameters to optimize. We include tasks such as machine tending and
welding in synthetic environments and 3D scans of real-world machine shops. All
benchmarks are accessible through https://cobra.cps.cit.tum.de, a platform to
conveniently share, reference, and compare tasks, robot models, and solutions.
