Difference between revisions of "Download page pb1"
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This archive file contains all the meshes and .mtl files for colors: [http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_meshes.tar.gz hanoi_meshes.tar.gz]<br /> | This archive file contains all the meshes and .mtl files for colors: [http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_meshes.tar.gz hanoi_meshes.tar.gz]<br /> | ||
It includes: | It includes: | ||
| − | |||
* the rod | * the rod | ||
* the five discs | * the five discs | ||
| Line 24: | Line 23: | ||
== Initial poses == | == Initial poses == | ||
| − | |||
Waiting for a better solution (but after all it's not too bad): | Waiting for a better solution (but after all it's not too bad): | ||
| − | |||
* the transformation matrices of all solids: [http://tampbenchmark.aass.oru.se/benchmarks/problem1/pb1_3_discs.txt pb1_3_discs.txt] | * the transformation matrices of all solids: [http://tampbenchmark.aass.oru.se/benchmarks/problem1/pb1_3_discs.txt pb1_3_discs.txt] | ||
| − | |||
* the initial configuration of PR2: | * the initial configuration of PR2: | ||
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== Movable objects == | == Movable objects == | ||
| − | |||
* disc1 | * disc1 | ||
* disc2 | * disc2 | ||
| Line 43: | Line 38: | ||
== Initial object attachments == | == Initial object attachments == | ||
(Although this is not relevant in this problem since one can only manipulate one disc at a time.) | (Although this is not relevant in this problem since one can only manipulate one disc at a time.) | ||
| − | |||
* (table, disc3) | * (table, disc3) | ||
* (disc3, disc2) | * (disc3, disc2) | ||
| Line 49: | Line 43: | ||
== Surfaces supporting stable placements (SSSP) == | == Surfaces supporting stable placements (SSSP) == | ||
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* the table | * the table | ||
* the top part of the disc3 (see Figure 3) | * the top part of the disc3 (see Figure 3) | ||
* the top part of the disc2 | * the top part of the disc2 | ||
| + | |||
| + | == Other constraints == | ||
| + | The base is not allowed to move in this problem. | ||
== Grasps == | == Grasps == | ||
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I think we should define a "side-grasp" template, which can be rotated along the z-axis in order to generate all the possible grasps allowed for solving this problem. | I think we should define a "side-grasp" template, which can be rotated along the z-axis in order to generate all the possible grasps allowed for solving this problem. | ||
| − | |||
{{Todo|}} | {{Todo|}} | ||
== Symbolic domain == | == Symbolic domain == | ||
| − | |||
{{Todo|}} | {{Todo|}} | ||
Revision as of 16:15, 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
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:
2
3 1
Geometries
This archive file contains all the meshes and .mtl files for colors: hanoi_meshes.tar.gz
It includes:
- 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.
Initial poses
Waiting for a better solution (but after all it's not too bad):
- the transformation matrices of all solids: pb1_3_discs.txt
- the initial configuration of PR2:
left_arm ( 0.5, 0, 0, -0.16, 0, -0.11, 0)
right_arm (-0.5, 0, 0, -0.16, 0, -0.11, 0)
torso ( 0.1 )
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
Other constraints
The base is not allowed to move in this problem.
Grasps
I think we should define a "side-grasp" template, which can be rotated along the z-axis in order to generate all the possible grasps allowed for solving this problem.
TODO :
Symbolic domain
TODO :
