Difference between revisions of "Download page pb3"

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(First pb3)
 
(→‎Problems)
 
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== Overview ==
 
== Overview ==
 
[[File:Bm4.jpg|thumb|Figure 1|200px]]
 
[[File:Bm4.jpg|thumb|Figure 1|200px]]
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No more than 2 blocks can be stacked on the table because of the hovering obstacle, therefore the pile has to be constructed on one of the trays...
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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 ==
 
== Geometries ==
 
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 />
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* the cylinder
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* blue sticks
 +
* green sticks
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* red sticks
 +
* table
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* arena
  
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[http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter_meshes.tar.gz clutter_meshes.tar.gz]<br />
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[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_meshes.tar.gz blocksworld_meshes.tar.gz]<br />
 
  
 
'''Remarks :'''
 
'''Remarks :'''
  
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*
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* The origin of the reference frame attached to blocks is located at the bottom centre.
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* The origin of the reference frame attached to... SSSP of the blocks.
 
  
 
== Initial scene ==
 
== Initial scene ==
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* SSSP: table, trays, and blocks
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* SSSP: tables
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* SOP: For blocks: upright position, any rotation about the world z-axis.
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* SOP: For sticks: upright position, any rotation about the world z-axis.
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* The base and the torso are not allowed to move in this problem.
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* The base is allowed to move in this problem.
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* Grasps: top-grasp (continuous)
 
  
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This archive file contains the 8 XML files for the 8 different problems size:
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Only the problem for N = 7 is given for now
 +
An archive with smaller problem sizes is coming soon.
  
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[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_xml.tar.gz blocksworld_xml.tar.gz] (see [[XML format description]])
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[http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter.xml clutter_xml] (see [[XML format description]])
  
 
== Symbolic domain ==
 
== Symbolic domain ==
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[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld.pddl blocksworld.pddl]
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[http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter.pddl clutter.pddl]
  
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'''Remark :''' Instead of the four suggested operators, alternatively use the operators ''pick'' and ''place'' instead of ''pickup/unstack'' or ''putdown/stack''.
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'''Remark :'''  
  
 
== Task-Motion interaction ==
 
== Task-Motion interaction ==
  
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''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).
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''pick'' or ''place'' map to whole body motion.
  
 
== Problems ==
 
== Problems ==
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_C.pddl hanoi_pb_C.pddl]<br />
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[http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter_pb.pddl clutter_pb.pddl]
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_D.pddl hanoi_pb_D.pddl]<br />
 
−
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_E.pddl hanoi_pb_E.pddl]<br />
 
−
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_F.pddl hanoi_pb_F.pddl]<br />
 
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_G.pddl hanoi_pb_G.pddl]<br />
 
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_H.pddl hanoi_pb_H.pddl]<br />
 
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_I.pddl hanoi_pb_I.pddl]<br />
 
−
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_J.pddl hanoi_pb_J.pddl]<br />
 

Latest revision as of 15:42, 27 May 2018

This page contains all the necessary files/information to set up this benchmark, along with comprehensive explanation.

Overview[edit]

Figure 1

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[edit]

This archive file contains all the meshes in OBJ format (and .mtl files for colors):

  • blue sticks
  • green sticks
  • red sticks
  • table
  • arena

clutter_meshes.tar.gz

Remarks :

  • The origin of the reference frame attached to blocks is located at the bottom centre.

Initial scene[edit]

  • SSSP: tables
  • SOP: For sticks: upright position, any rotation about the world z-axis.
  • The base is allowed to move in this problem.

Only the problem for N = 7 is given for now An archive with smaller problem sizes is coming soon.

clutter_xml (see XML format description)

Symbolic domain[edit]

clutter.pddl

Remark :

Task-Motion interaction[edit]

pick or place map to whole body motion.

Problems[edit]

clutter_pb.pddl

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