Difference between revisions of "Download page pb4"
From Tamp Benchmarking
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== Geometries == | == Geometries == | ||
| − | [[File:Tables_annotated.png|thumb|Figure | + | [[File:Tables_annotated.png|thumb|Figure 2|200px]] |
[[File:sops.png|thumb|Figure 3|200px]] | [[File:sops.png|thumb|Figure 3|200px]] | ||
[[File:side-grasps.jpg|thumb|Figure 4|100px]] | [[File:side-grasps.jpg|thumb|Figure 4|100px]] | ||
| Line 12: | Line 12: | ||
* red block L-shaped | * red block L-shaped | ||
* blue block | * blue block | ||
| − | * green block | + | * green block 1, 2 and 3 |
* red target | * red target | ||
* blue target | * blue target | ||
| − | * green target | + | * green target 1, 2 and 3 |
* table | * table | ||
* splitting bar | * splitting bar | ||
| Line 29: | Line 29: | ||
* SSSP: tables, split bars, and targets (single point) | * 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 blue and green blocks: upright position, any rotation about the world z-axis. | ||
| − | * SOP: For the red blocks, | + | * 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 for blue and green blocks. | * Grasps: 4 side-grasps for blue and green blocks. | ||
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.
