Download page pb2

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

Overview

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

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

• 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

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

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

[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]