Difference between revisions of "Download page pb2"
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== Overview == | == Overview == | ||
[[File:bm2-pr2.jpg|thumb|Figure 1|200px]] | [[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. | ||
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| + | <youtube width="320" height="240">2DgtzdbER8o</youtube>. | ||
== Geometries == | == Geometries == | ||
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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 :''' | + | '''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 == | ||
| − | + | ''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/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_C.pddl blocksworld_pb_C.pddl]<br /> |
| − | [http://tampbenchmark.aass.oru.se/benchmarks/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_D.pddl blocksworld_pb_D.pddl]<br /> |
| − | [http://tampbenchmark.aass.oru.se/benchmarks/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_E.pddl blocksworld_pb_E.pddl]<br /> |
| − | [http://tampbenchmark.aass.oru.se/benchmarks/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_F.pddl blocksworld_pb_F.pddl]<br /> |
| − | [http://tampbenchmark.aass.oru.se/benchmarks/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_G.pddl blocksworld_pb_G.pddl]<br /> |
| − | [http://tampbenchmark.aass.oru.se/benchmarks/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_H.pddl blocksworld_pb_H.pddl]<br /> |
| − | [http://tampbenchmark.aass.oru.se/benchmarks/ | + | [http://tampbenchmark.aass.oru.se/benchmarks/problem2/blocksworld_pb_I.pddl blocksworld_pb_I.pddl]<br /> |
| − | [http://tampbenchmark.aass.oru.se/benchmarks/ | + | [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.
Contents
Overview[edit]
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
Remarks :
- 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]
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
