Download page pb3

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

Overview

Figure 1

The goal constraints are that all N blue blocks must be on the left table and all N green blocks must be on the right table. There are also 2N red blocks acting as obstacles for reaching blue and green blocks.

Geometries

This archive file contains all the meshes in OBJ format (and .mtl files for colors):

• blue block
• red block
• green block
• table

clutter_meshes.tar.gz

Remarks :

• The origin of the reference frame attached to blocks is located at the bottom centre.

Initial scene

• SSSP: tables
• SOP: For blocks: upright position, any rotation about the world z-axis.
• The base is allowed to move in this problem.
• Grasps: 4 side-grasps

This archive file contains the 8 XML files for the 8 different problems size:

clutter_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

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