Download page pb1

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

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 (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

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

• 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.

Initial scene

• 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

hanoi.pddl

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

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).

Problems

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