Difference between revisions of "Download page pb3"
From Tamp Benchmarking
(→Problems) |
(→Initial scene) |
||
| Line 20: | Line 20: | ||
== Initial scene == | == Initial scene == | ||
* SSSP: tables | * SSSP: tables | ||
| − | * SOP: For | + | * SOP: For sticks: upright position, any rotation about the world z-axis. |
* The base is allowed to move in this problem. | * The base is allowed to move in this problem. | ||
| − | |||
This archive file contains the 5 XML files for the 5 different problem sizes: | This archive file contains the 5 XML files for the 5 different problem sizes: | ||
| − | [http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter_xml | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter_xml clutter_xml] (see [[XML format description]]) |
== Symbolic domain == | == Symbolic domain == | ||
Revision as of 19:21, 15 April 2018
This page contains all the necessary files/information to set up this benchmark, along with comprehensive explanation.
Contents
Overview
The goal constraints are that all N blue blocks must be on the left table and all N green blocks must be on the right table. There are also 2N red blocks acting as obstacles for reaching blue and green blocks.
Geometries
This archive file contains all the meshes in OBJ format (and .mtl files for colors):
- blue block
- red block
- green block
- table
Remarks :
- The origin of the reference frame attached to blocks is located at the bottom centre.
Initial scene
- SSSP: tables
- SOP: For sticks: upright position, any rotation about the world z-axis.
- The base is allowed to move in this problem.
This archive file contains the 5 XML files for the 5 different problem sizes:
clutter_xml (see XML format description)
Symbolic domain
Remark :
Task-Motion interaction
pick or place map to whole body motion.
