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 (1, 2 and 3) 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 at their respective initial locations.

Geometries

Figure 2

Figure 3

Figure 4

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

• red block L-shaped
• blue block
• green block 1, 2 and 3
• red target
• blue target
• green target 1, 2 and 3
• 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

Figure 5

• SSSP: tables, split bars, and targets (single point)
• SOP: For blue and green blocks: upright position, any rotation about the world z-axis.
• SOP: For the red blocks, 3 SOP : see Figure 3.
• The base is allowed to move in this problem.
• Grasps: 4 side-grasps for blue and green blocks.
• Grasps: 8 side-grasps and 8 edge-grasps for the red block (see Figures 4 and 5)

nonmono.xml (see XML format description)

Symbolic domain

nonmono.pddl

Remark :

Task-Motion interaction

pick or place map to whole body motion.

Problems

nonmono_pb.pddl