Download page pb3
This page contains all the necessary files/information to set up this benchmark, along with comprehensive explanation.
Contents
Overview
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...
Geometries
This archive file contains all the meshes in OBJ format (and .mtl files for colors):
- the cylinder
Remarks :
- The origin of the reference frame attached to... SSSP of the blocks.
Initial scene
- 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
Remark : Instead of the four suggested operators, alternatively use the operators pick and place instead of pickup/unstack or putdown/stack.
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
hanoi_pb_C.pddl
hanoi_pb_D.pddl
hanoi_pb_E.pddl
hanoi_pb_F.pddl
hanoi_pb_G.pddl
hanoi_pb_H.pddl
hanoi_pb_I.pddl
hanoi_pb_J.pddl
