Difference between revisions of "Download page pb2"
From Tamp Benchmarking
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== Overview == | == Overview == | ||
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== Geometries == | == Geometries == | ||
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* The origin of the reference frame attached to... SSSP of the blocks. | * The origin of the reference frame attached to... SSSP of the blocks. | ||
Revision as of 16:42, 22 February 2018
This page contains all the necessary files/information to set up this benchmark, along with comprehensive explanation.
Contents
Overview
Geometries
This archive file contains all the meshes in OBJ format (and .mtl files for colors):
- the blocks
- the red and blue trays
- the hovering obstacle
- the table
Remarks :
- The origin of the reference frame attached to... SSSP of the blocks.
Initial scene
- SSSP: table, trays, and blocks
- SOP: For blocks: upright position, any rotation about the world z-axis.
- The base and the torso are not allowed to move in this problem.
- Grasps: top-grasp (continuous)
This archive file contains the 8 XML files for the 8 different problems size:
blocksworld_xml.tar.gz (see XML format description)
Symbolic domain
Remark : Use the operator move, or the operators pick and place at your convenience.
Task-Motion interaction
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
hanoi_pb_C.pddl
hanoi_pb_D.pddl
hanoi_pb_E.pddl
hanoi_pb_F.pddl
hanoi_pb_G.pddl
hanoi_pb_H.pddl
hanoi_pb_I.pddl
hanoi_pb_J.pddl
