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 5 XML files for the 5 different problem sizes:

clutter_xml.tar.gz (see XML format description)

Symbolic domain

clutter.pddl

Remark :

Task-Motion interaction

pick or place map to whole body motion.

Problems

clutter1.pddl
clutter2.pddl
clutter3.pddl
clutter4.pddl
clutter5.pddl