Difference between revisions of "Download page pb4"
From Tamp Benchmarking
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== Overview == | == Overview == | ||
[[File:Bm5.jpg|thumb|Figure 1|200px]] | [[File:Bm5.jpg|thumb|Figure 1|200px]] | ||
| − | The robot must move the green blocks 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 | + | 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 == | == Geometries == | ||
| + | [[File:Tables_annotated.png|thumb|Figure 2|200px]] | ||
| + | [[File:sops.png|thumb|Figure 3|200px]] | ||
| + | [[File:side-grasps.jpg|thumb|Figure 4|100px]] | ||
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 /> | ||
| + | * red block L-shaped | ||
* blue block | * blue block | ||
| − | * | + | * green block 1, 2 and 3 |
| − | * green | + | * red target |
| − | * | + | * blue target |
| + | * green target 1, 2 and 3 | ||
| + | * table | ||
| + | * splitting bar | ||
[http://tampbenchmark.aass.oru.se/benchmarks/problem4/nonmono_meshes.tar.gz nonmono_meshes.tar.gz]<br /> | [http://tampbenchmark.aass.oru.se/benchmarks/problem4/nonmono_meshes.tar.gz nonmono_meshes.tar.gz]<br /> | ||
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== Initial scene == | == Initial scene == | ||
| − | * SSSP: tables | + | [[File:edge-grasps.jpg|thumb|Figure 5|100px]] |
| − | * SOP: For blocks: upright position, any rotation about the world z-axis. | + | * SSSP: tables, split bars, and targets (single point) |
| + | * SOP: For blue and green blocks: upright position, any rotation about the world z-axis. | ||
| + | * SOP: For the red blocks, 3 SOP : see Figure 3. | ||
* The base is allowed to move in this problem. | * The base is allowed to move in this problem. | ||
| − | * Grasps: 4 side-grasps | + | * Grasps: 4 side-grasps for blue and green blocks. |
| + | * Grasps: 8 side-grasps and 8 edge-grasps for the red block (see Figures 4 and 5) | ||
| − | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem4/nonmono.xml nonmono.xml] (see [[XML format description]]) | |
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| − | [http://tampbenchmark.aass.oru.se/benchmarks/problem4/ | ||
== Symbolic domain == | == Symbolic domain == | ||
| Line 38: | Line 46: | ||
== Problems == | == Problems == | ||
| − | [http://tampbenchmark.aass.oru.se/benchmarks/problem4/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem4/nonmono_pb.pddl nonmono_pb.pddl] |
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Latest revision as of 16:11, 26 May 2018
This page contains all the necessary files/information to set up this benchmark, along with comprehensive explanation.
Contents
Overview[edit]
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[edit]
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
- table
- splitting bar
Remarks :
- The origin of the reference frame attached to blocks is located at the bottom centre.
Initial scene[edit]
- SSSP: tables, split bars, and targets (single point)
- SOP: For blue and green blocks: upright position, any rotation about the world z-axis.
- SOP: For the red blocks, 3 SOP : see Figure 3.
- The base is allowed to move in this problem.
- Grasps: 4 side-grasps for blue and green blocks.
- Grasps: 8 side-grasps and 8 edge-grasps for the red block (see Figures 4 and 5)
nonmono.xml (see XML format description)
Symbolic domain[edit]
Remark :
Task-Motion interaction[edit]
pick or place map to whole body motion.
