Download page pb4

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

Overview

Figure 1

The robot must move the green blocks from the left table to a corresponding position on the right table. Both the initial and goal poses are blocked by four red and blue blocks respectively. In the goal state, red and blue blocks have to be in their initial poses.

Geometries

File:Nonmono1.jpg

200px

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

• red block
• blue block
• green block (1, 2 and 3)
• red target
• blue target
• green target (1, 2 and 3)
• narrow table
• splitting bar

nonmono_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 4 XML files for the 4 different problem sizes:

nonmono_xml.tar.gz (see XML format description)

Symbolic domain

nonmono.pddl

Remark :

Task-Motion interaction

pick or place map to whole body motion.

Problems

nonmono1.pddl
nonmono2.pddl
nonmono3.pddl
nonmono4.pddl