Difference between revisions of "Download page pb4"
From Tamp Benchmarking
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== Initial scene == | == Initial scene == | ||
| − | [[File:side-grasps.jpg|thumb|Figure 3| | + | [[File:side-grasps.jpg|thumb|Figure 3|100px]][[File:edge-grasps.jpg|thumb|Figure 4|100px]] |
| − | [[File:edge-grasps.jpg|thumb|Figure 4| | ||
* SSSP: tables, split bars, and targets (single point) | * SSSP: tables, split bars, and targets (single point) | ||
* SOP: For sticks: upright position, any rotation about the world z-axis. | * SOP: For sticks: upright position, any rotation about the world z-axis. | ||
Revision as of 18:35, 25 May 2018
This page contains all the necessary files/information to set up this benchmark, along with comprehensive explanation.
Contents
Overview
The robot must move the green blocks (1, 2 and 3) from the left table to a corresponding position on the right table. Both the initial and goal poses are blocked by four red and blue blocks respectively. In the goal state, red and blue blocks have to be at their respective initial locations.
Geometries
This archive file contains all the meshes in OBJ format (and .mtl files for colors):
- red block L-shaped
- blue block
- green block (1, 2 and 3)
- red target
- blue target
- green target (1, 2 and 3)
- narrow table
- splitting bar
Remarks :
- The origin of the reference frame attached to blocks is located at the bottom centre.
Initial scene
- SSSP: tables, split bars, and targets (single point)
- SOP: For sticks: upright position, any rotation about the world z-axis.
- The base is allowed to move in this problem.
- Grasps: 8 side-grasps and 8 edge-grasps (see Figs 3 and 4)
nonmono.xml (see XML format description)
Symbolic domain
Remark :
Task-Motion interaction
pick or place map to whole body motion.
