Difference between revisions of "Download page pb2"

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== Overview ==
 
== Overview ==
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[[File:pb2_init.jpg|thumb|Figure 1|200px]]
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[[File:bm2-pr2.jpg|thumb|Figure 1|200px]]
 +
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.
 +
No more than 5 blocks can be stacked on the blue tray because of kinematic constraints, therefore solutions to problems with more than 5 blocks require to construct the pile on the red tray.
 +
 
 +
 
 +
<youtube width="320" height="240">2DgtzdbER8o</youtube>.
  
 
== Geometries ==
 
== Geometries ==
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*  
 
*  
  
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[[File:dimensions.png|thumb|Figure 3|200px]]
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[[File:block_a.png|thumb|Figure 3|200px]]
  
 
* The origin of the reference frame attached to... SSSP of the blocks.
 
* The origin of the reference frame attached to... SSSP of the blocks.
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[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld.pddl blocksworld.pddl]
 
[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld.pddl blocksworld.pddl]
  
−
'''Remark :''' Use the operator ''move'', or the operators ''pick'' and ''place'' at your convenience.
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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''.
  
 
== Task-Motion interaction ==
 
== Task-Motion interaction ==
  
−
''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).
+
''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 ==
 
== Problems ==
−
[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/problem2/blocksworld_pb_C.pddl blocksworld_pb_C.pddl]<br />
−
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_D.pddl hanoi_pb_D.pddl]<br />
+
[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_D.pddl blocksworld_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/problem2/blocksworld_pb_E.pddl blocksworld_pb_E.pddl]<br />
−
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_F.pddl hanoi_pb_F.pddl]<br />
+
[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_F.pddl blocksworld_pb_F.pddl]<br />
−
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_G.pddl hanoi_pb_G.pddl]<br />
+
[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_G.pddl blocksworld_pb_G.pddl]<br />
−
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_H.pddl hanoi_pb_H.pddl]<br />
+
[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_H.pddl blocksworld_pb_H.pddl]<br />
−
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_I.pddl hanoi_pb_I.pddl]<br />
+
[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_I.pddl blocksworld_pb_I.pddl]<br />
−
[http://tampbenchmark.aass.oru.se/benchmarks/problem1/blocksworld_pb_J.pddl hanoi_pb_J.pddl]<br />
+
[http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_J.pddl blocksworld_pb_J.pddl]<br />

Latest revision as of 14:44, 17 July 2018

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

Overview[edit]

Figure 1

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. No more than 5 blocks can be stacked on the blue tray because of kinematic constraints, therefore solutions to problems with more than 5 blocks require to construct the pile on the red tray.


.

Geometries[edit]

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

  • the blocks
  • the red and blue trays
  • the hovering obstacle
  • the table

blocksworld_meshes.tar.gz

Remarks :

Figure 3
  • The origin of the reference frame attached to... SSSP of the blocks.

Initial scene[edit]

  • SSSP: table, trays, and blocks
  • SOP: For blocks: upright position, any rotation about the world z-axis.
  • The base and the torso are not allowed to move in this problem.
  • Grasps: top-grasp (continuous)

This archive file contains the 8 XML files for the 8 different problems size:

blocksworld_xml.tar.gz (see XML format description)

Symbolic domain[edit]

blocksworld.pddl

Remark : Instead of the four suggested operators, alternatively use the operators pick and place instead of pickup/unstack or putdown/stack.

Task-Motion interaction[edit]

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]

blocksworld_pb_C.pddl
blocksworld_pb_D.pddl
blocksworld_pb_E.pddl
blocksworld_pb_F.pddl
blocksworld_pb_G.pddl
blocksworld_pb_H.pddl
blocksworld_pb_I.pddl
blocksworld_pb_J.pddl

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