Difference between revisions of "Download page pb3"
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== 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 /> | ||
| − | * blue | + | * blue sticks |
| − | * | + | * green sticks |
| − | * | + | * red sticks |
* table | * table | ||
| + | * arena | ||
[http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter_meshes.tar.gz clutter_meshes.tar.gz]<br /> | [http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter_meshes.tar.gz clutter_meshes.tar.gz]<br /> | ||
| Line 20: | Line 21: | ||
== 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. | ||
| − | |||
| − | + | Only the problem for N = 7 is given for now | |
| + | An archive with smaller problem sizes is coming soon. | ||
| − | [http://tampbenchmark.aass.oru.se/benchmarks/problem3/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter.xml clutter_xml] (see [[XML format description]]) |
== Symbolic domain == | == Symbolic domain == | ||
[http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter.pddl clutter.pddl] | [http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter.pddl clutter.pddl] | ||
| − | '''Remark :''' | + | '''Remark :''' |
== Task-Motion interaction == | == Task-Motion interaction == | ||
| − | ''pick'' or ''place'' map to | + | ''pick'' or ''place'' map to whole body motion. |
== Problems == | == Problems == | ||
| − | [http://tampbenchmark.aass.oru.se/benchmarks/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem3/clutter_pb.pddl clutter_pb.pddl] |
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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.
Contents
Overview[edit]
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
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]
Remark :
Task-Motion interaction[edit]
pick or place map to whole body motion.
