Download page pb1

This page should contain all the necessary files/information to set this benchmark up. Until we agree on it, some of the input data is given as plain text.

Overview

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:

    2
1      3

Figure 2

Geometries

In this archive hanoi_meshes.tar.gz, you can find the meshes for:

• the rod
• the five discs
• the table

The "discs" are designed so that they can be stack on each other without collision. The rod has the same dimensions than the handle of the discs (diameter 30mm). It is therefore easy to stack it since the hole under the disc has is 50mm in diameter.

Figure 3

Initial poses

Waiting for a better solution (but after all it's not too bad), the transformation matrices of all solids:

pb1_3_discs.txt

and the initial configuration of PR2:

left_arm  ( 0.5, 0, 0, -0.16, 0, -0.11, 0)
right_arm (-0.5, 0, 0, -0.16, 0, -0.11, 0)

Movable objects

• disc1
• disc2
• disc3

Initial object attachments

(Although this is not relevant in this problem since one can only manipulate one disc at a time.)

• (table, disc3)
• (disc3, disc2)
• (disc2, disc1)

Surfaces supporting stable placements (SSSP)

• the table
• the top part of the disc3 (see Figure 3)
• the top part of the disc2