Difference between revisions of "Download page pb1"
From Tamp Benchmarking
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== Overview == | == Overview == | ||
| − | [[File:pb1_init.jpg| | + | [[File:pb1_init.jpg|frame|Figure 1|400px]][[File:discs_and_rod.jpg|frame|Figure 2|200px]] |
== Geometries == | == Geometries == | ||
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The "discs" are designed so that they can be stack on each other without collision. The rod has the same dimensions than the handle of the discs (diameter 30mm). It is therefore easy to stack it since the hole under the disc has is 50mm in diameter. | The "discs" are designed so that they can be stack on each other without collision. The rod has the same dimensions than the handle of the discs (diameter 30mm). It is therefore easy to stack it since the hole under the disc has is 50mm in diameter. | ||
| − | [[File:dimensions.png| | + | [[File:dimensions.png|frame|frame|Figure 3|800px]] |
== Initial poses == | == Initial poses == | ||
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* the table | * the table | ||
| − | * the top part of the disc3 | + | * the top part of the disc3 (see Figure 3) |
* the top part of the disc2 | * the top part of the disc2 | ||
Revision as of 15:27, 2 February 2017
This page should contain all the necessary files/information to set this benchmark up. Until we agree on it, some of the input data is given as plain text.
Contents
Overview
Figure 1
Figure 2
Geometries
In this archive hanoi_meshes.tar.gz, you can find the meshes for:
- the rod
- the five discs
- the table
The "discs" are designed so that they can be stack on each other without collision. The rod has the same dimensions than the handle of the discs (diameter 30mm). It is therefore easy to stack it since the hole under the disc has is 50mm in diameter.
Figure 3
Initial poses
Waiting for a better solution (but after all it's not too bad), the transformation matrices of all solids:
Movable objects
- disc1
- disc2
- disc3
Initial object attachments
(Although this is not relevant in this problem since one can only manipulate one disc at a time.)
- (table, disc3)
- (disc3, disc2)
- (disc2, disc1)
Surfaces supporting stable placements (SSSP)
- the table
- the top part of the disc3 (see Figure 3)
- the top part of the disc2
