Download page pb1 - Revision history

Flladmin: /* Overview */

2018-07-17T13:43:07Z

‎Overview

2018-07-17T13:42:47Z

‎Overview

2018-02-22T15:53:31Z

2018-02-22T15:12:26Z

2018-02-22T15:11:41Z

2018-02-22T15:10:55Z

2018-02-22T15:09:26Z

2018-02-20T18:49:22Z

2018-02-20T18:48:40Z

xml tar.gz

2018-02-20T11:55:40Z

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 The main difference with the classic Tower of Hanoi problem is the disposition of the rods, which are not aligned, but set in a triangular fashion (the actual disposition may not be reflected by the picture). The position of the robot with respect to the rods imposes geometric constraints (thus infeasible task operators).
 [[File:discs_and_rod.jpg|thumb|Figure 2|200px]]
 == Geometries ==

@@ Line 5: / Line 5: @@
 The main difference with the classic Tower of Hanoi problem is the disposition of the rods, which are not aligned, but set in a triangular fashion (the actual disposition may not be reflected by the picture). The position of the robot with respect to the rods imposes geometric constraints (thus infeasible task operators).
 [[File:discs_and_rod.jpg|thumb|Figure 2|200px]]
 == Geometries ==

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 [[File:dimensions.png|thumb|Figure 3|200px]]
-* The origin of the reference frame attached to the object is located at the bottom, centre of the object. By bottom, we mean given that the object is standing in its "natural" upward orientation, if applicable. In this way, placing the object on a SSSP is achieved by placing the origin of its reference frame on the SSSP.
+* For discs and pegs, the origin of the reference frame attached to the object is located at the bottom, centre of the object. By bottom, we mean given that the object is standing in its "natural" upward orientation.
 == Initial scene ==

@@ Line 35: / Line 35: @@
 [http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi.pddl hanoi.pddl]
-'''Remarks :''' Use the operator ''move'' or the operators ''pick'' and ''place'' at your convenience.
+'''Remark :''' Use the operator ''move'', or the operators ''pick'' and ''place'' at your convenience.
 == Task-Motion interaction ==

@@ Line 35: / Line 35: @@
 [http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi.pddl hanoi.pddl]
-'''Remarks :''' Use the ''move'' operator or ''pick'' and ''place'' at your convenience.
+'''Remarks :''' Use the operator ''move'' or the operators ''pick'' and ''place'' at your convenience.
 == Task-Motion interaction ==

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 == Task-Motion interaction ==
-Operators, ''move'', ''pick'' or ''place'' map to the motion of both arms (i.e., if an action is performed with an arm, the other arm is allowed to move).
+''move'', ''pick'' or ''place'' map to the motion of both arms (i.e., if an action is performed with a given arm, the other arm is allowed to move).
 == Problems ==

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 == Initial scene ==
 * SSSP: pegs and discs (see Figure 3). The table cannot be used to place the discs.
-* SOP: For discs: any rotation of the initial pose about the world z-axis.
+* SOP: For discs: upright position, any rotation about the world z-axis.
-* The base is not allowed to move in this problem.
+* The base and the torso are not allowed to move in this problem.
 * Grasps: side-grasp (continuous)
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 == Symbolic domain ==
 [http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi.pddl hanoi.pddl]
 == Problems ==
 [http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_3.pddl hanoi_pb_3.pddl]<br />

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 * Grasps: side-grasp (continuous)
-[[problem_xml | problem.xml]] (see [[XML format description]])
+This archive file contains the 4 XML files for the 4 different problems size:
 == Symbolic domain ==

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-This page should contain all the necessary files/information to set this benchmark up.
+This page contains all the necessary files/information to set up this benchmark, along with comprehensive explanation.
 == Overview ==
 [[File:pb1_init.jpg|thumb|Figure 1|200px]]
-The main difference with the classic Tower of Hanoi problem is the disposition of the rods, which are not aligned, but set in a triangular fashion (the actual disposition may not be reflected by the picture). The position of the robot with respect to the rods imposes geometric constraints (thus infeasible task operators).<br /><br />
+The main difference with the classic Tower of Hanoi problem is the disposition of the rods, which are not aligned, but set in a triangular fashion (the actual disposition may not be reflected by the picture). The position of the robot with respect to the rods imposes geometric constraints (thus infeasible task operators).
 [[File:discs_and_rod.jpg|thumb|Figure 2|200px]]
 == Geometries ==
 This archive file contains all the meshes in OBJ format (and .mtl files for colors):<br />
 * the rod