Difference between revisions of "Download page pb1"

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This page should contain all the necessary files/information to set this benchmark up.
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This page contains all the necessary files/information to set up this benchmark, along with comprehensive explanation.
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Until we agree on it, some of the input data is given as plain text.
 
  
 
== Overview ==
 
== Overview ==
 
[[File:pb1_init.jpg|thumb|Figure 1|200px]]
 
[[File:pb1_init.jpg|thumb|Figure 1|200px]]
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The main difference with the classic Tower of Hanoi problem is the disposition of the rods, which are not aligned, but set in a triangular fashion (the actual disposition may not be reflected by the picture). The position of the robot with respect to the rods imposes geometric constraints (thus infeasible task operators):<br /><br />
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The main difference with the classic Tower of Hanoi problem is the disposition of the rods, which are not aligned, but set in a triangular fashion (the actual disposition may not be reflected by the picture). The position of the robot with respect to the rods imposes geometric constraints (thus infeasible task operators).
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&nbsp;&nbsp;&nbsp;&nbsp;2<br />
 
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3 &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;1
 
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<br />
 
 
[[File:discs_and_rod.jpg|thumb|Figure 2|200px]]
 
[[File:discs_and_rod.jpg|thumb|Figure 2|200px]]
  
 
== Geometries ==
 
== Geometries ==
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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 rod
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* the six discs
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* the table
  
 
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_meshes.tar.gz hanoi_meshes.tar.gz]<br />
 
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_meshes.tar.gz hanoi_meshes.tar.gz]<br />
  
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It includes:
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'''Remarks :'''
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* the rod
 
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* the five discs
 
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* the table
 
  
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The "discs" are designed so that they can be stacked on each other without collision. The handle of the discs is 30mm in diameter. It is therefore easy to stack them since the hole under the discs is 50mm in diameter. The rod has the same dimensions than the handle (see Figures 2 and 3).
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* The "discs" are designed so that they can be stacked on each other without collision. The handle of the discs is 30mm in diameter. It is therefore easy to stack them since the hole under the discs is 50mm in diameter. The rod has the same dimensions than the handle (see Figures 2 and 3).
  
 
[[File:dimensions.png|thumb|Figure 3|200px]]
 
[[File:dimensions.png|thumb|Figure 3|200px]]
  
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The origin of the reference frame attached to the object is located at the bottom, centre of the object. By bottom, we mean given that the object is standing in its "natural" upward orientation, if applicable. In this way, placing the object on a SSSP is achieved by placing the origin of its reference frame on the SSSP.
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* For discs and pegs, the origin of the reference frame attached to the object is located at the bottom, centre of the object. By bottom, we mean given that the object is standing in its "natural" upward orientation.
  
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== Initial poses ==
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== Initial scene ==
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Waiting for a better solution (but after all it's not too bad):
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* SSSP: pegs and discs (see Figure 3). The table cannot be used to place the discs.
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* the transformation matrices of all solids: [http://tampbenchmark.aass.oru.se/benchmarks/problem1/pb1_3_discs.txt pb1_3_discs.txt]
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* SOP: For discs: upright position, any rotation about the world z-axis.
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* the initial configuration of PR2:
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* The base and the torso are not allowed to move in this problem.
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* Grasps: side-grasp (continuous)
  
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{{Code|left_arm &nbsp;( 0.5, 0, 0, -0.16, 0, -0.11, 0)<br />
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This archive file contains the 4 XML files for the 4 different problems size:
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right_arm (-0.5, 0, 0, -0.16, 0, -0.11, 0)<br />
 
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torso &nbsp;&nbsp;&nbsp; ( 0.1 )}}
 
  
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== Movable objects ==
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_xml.tar.gz hanoi_xml.tar.gz] (see [[XML format description]])
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* disc1
 
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* disc2
 
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* disc3
 
  
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== Initial object attachments ==
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== Symbolic domain ==
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(Although this is not relevant in this problem since one can only manipulate one disc at a time.)
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi.pddl hanoi.pddl]
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* (table, disc3)
 
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* (disc3, disc2)
 
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* (disc2, disc1)
 
  
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== Surfaces supporting stable placements (SSSP) ==
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'''Remark :''' Use the operator ''move'', or the operators ''pick'' and ''place'' at your convenience.
  
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* the pegs
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== Task-Motion interaction ==
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* the top part of all the discs (see Figure 3) except disc1
 
  
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The table cannot be used to place the discs.
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''move'', ''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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== Stable object poses (SOP) ==
 
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For disc1, disc2, disc3: any rotation of the initial pose about the world z-axis.
 
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== Other constraints ==
 
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The base is not allowed to move in this problem.
 
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== Grasps ==
 
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I think we should define a "side-grasp" template, which can be rotated about the world z-axis in order to generate all the possible grasps allowed for solving this problem.<br />
 
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See also [[Talk:Problems#Benchmarking_suggestion_2_16|Benchmarking suggestion 2]] and [[Talk:Problems#Comment_5_53|Comment 5]].
 
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{{Todo|}}
 
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== Symbolic domain ==
 
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi.pddl hanoi.pddl]
 
 
== Problems ==
 
== Problems ==
 
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_3.pddl hanoi_pb_3.pddl]<br />
 
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_3.pddl hanoi_pb_3.pddl]<br />
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[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_5.pddl hanoi_pb_5.pddl]<br />
 
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_5.pddl hanoi_pb_5.pddl]<br />
 
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_6.pddl hanoi_pb_6.pddl]<br />
 
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/hanoi_pb_6.pddl hanoi_pb_6.pddl]<br />
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== Wrapping everything in a single file ==
 
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[[XML format description]]<br />
 
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[[problem_xml | problem.xml]]
 

Latest revision as of 14:43, 17 July 2018

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

Overview[edit]

Figure 1

The main difference with the classic Tower of Hanoi problem is the disposition of the rods, which are not aligned, but set in a triangular fashion (the actual disposition may not be reflected by the picture). The position of the robot with respect to the rods imposes geometric constraints (thus infeasible task operators).

Figure 2

Geometries[edit]

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

  • the rod
  • the six discs
  • the table

hanoi_meshes.tar.gz

Remarks :

  • The "discs" are designed so that they can be stacked on each other without collision. The handle of the discs is 30mm in diameter. It is therefore easy to stack them since the hole under the discs is 50mm in diameter. The rod has the same dimensions than the handle (see Figures 2 and 3).
Figure 3
  • For discs and pegs, the origin of the reference frame attached to the object is located at the bottom, centre of the object. By bottom, we mean given that the object is standing in its "natural" upward orientation.

Initial scene[edit]

  • SSSP: pegs and discs (see Figure 3). The table cannot be used to place the discs.
  • SOP: For discs: upright position, any rotation about the world z-axis.
  • The base and the torso are not allowed to move in this problem.
  • Grasps: side-grasp (continuous)

This archive file contains the 4 XML files for the 4 different problems size:

hanoi_xml.tar.gz (see XML format description)

Symbolic domain[edit]

hanoi.pddl

Remark : Use the operator move, or the operators pick and place at your convenience.

Task-Motion interaction[edit]

move, 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).

Problems[edit]

hanoi_pb_3.pddl
hanoi_pb_4.pddl
hanoi_pb_5.pddl
hanoi_pb_6.pddl

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