Difference between revisions of "Download page pb1"
From Tamp Benchmarking
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== Overview == | == Overview == | ||
[[File:pb1_init.jpg|thumb|Figure 1|200px]] | [[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) | + | 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 /> |
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[[File:discs_and_rod.jpg|thumb|Figure 2|200px]] | [[File:discs_and_rod.jpg|thumb|Figure 2|200px]] | ||
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This archive file contains all the meshes in OBJ format (and .mtl files for colors):<br /> | This archive file contains all the meshes in OBJ format (and .mtl files for colors):<br /> | ||
| + | * the rod | ||
| + | * the six discs | ||
| + | * the table | ||
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_meshes.tar.gz hanoi_meshes.tar.gz]<br /> | [http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_meshes.tar.gz hanoi_meshes.tar.gz]<br /> | ||
| − | + | '''Remarks :''' | |
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| − | The "discs" are designed so that they can be stacked on each other without collision. The handle of the discs is 30mm in diameter. It is therefore easy to stack them since the hole under the discs is 50mm in diameter. The rod has the same dimensions than the handle (see Figures 2 and 3). | + | * The "discs" are designed so that they can be stacked on each other without collision. The handle of the discs is 30mm in diameter. It is therefore easy to stack them since the hole under the discs is 50mm in diameter. The rod has the same dimensions than the handle (see Figures 2 and 3). |
[[File:dimensions.png|thumb|Figure 3|200px]] | [[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. | + | * 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. |
| − | == Initial | + | == Initial scene == |
| − | + | * Movable objects: disc1, disc2, disc3 | |
| − | * | + | * Initial object attachments: disc3-disc2, disc2-disc1 |
| − | * | + | * 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. | ||
| + | * The base is not allowed to move in this problem. | ||
| + | * Grasps: side-grasp (continuous) | ||
| − | + | [[problem_xml | problem.xml]] (see [[XML format description]]) | |
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== Symbolic domain == | == Symbolic domain == | ||
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_5.pddl hanoi_pb_5.pddl]<br /> | [http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_5.pddl hanoi_pb_5.pddl]<br /> | ||
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_6.pddl hanoi_pb_6.pddl]<br /> | [http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_6.pddl hanoi_pb_6.pddl]<br /> | ||
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Revision as of 12:50, 20 February 2018
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.
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 (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).
Geometries
This archive file contains all the meshes in OBJ format (and .mtl files for colors):
- the rod
- the six discs
- the table
Remarks :
- The "discs" are designed so that they can be stacked on each other without collision. The handle of the discs is 30mm in diameter. It is therefore easy to stack them since the hole under the discs is 50mm in diameter. The rod has the same dimensions than the handle (see Figures 2 and 3).
- 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.
Initial scene
- Movable objects: disc1, disc2, disc3
- Initial object attachments: disc3-disc2, disc2-disc1
- 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.
- The base is not allowed to move in this problem.
- Grasps: side-grasp (continuous)
problem.xml (see XML format description)
Symbolic domain
Problems
hanoi_pb_3.pddl
hanoi_pb_4.pddl
hanoi_pb_5.pddl
hanoi_pb_6.pddl
