Download page pb5

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

Overview

Figure 1

The robot must prepare a meal by cleaning two glasses (blue cylinders), cooking two cabbages (green blocks), and setting the table. Objects can be cleaned when placed on the dishwasher and cooked when placed on the microwave. An object must be cleaned before it can be cooked. Finally, the radishes (pink blocks) initially obstruct the cabbages on the shelf forcing the robot to move them. But, to maintain a tidy kitchen, the robot must also return them to their initial poses (the tray).

Geometries

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

• blue cylinder
• green block
• pink block
• tray
• table
• dishwasher
• microwave
• splitter
• arena

kitchen_meshes.tar.gz

Remarks :

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

Initial scene

• SSSP: tables, dishwasher, microwave, tray
• SOP: For cabbage, radices and glasses: upright position, any rotation about the world z-axis.
• The base is allowed to move in this problem.
• Grasps: side-grasps for all objects

This archive file contains only one XML file:

kitchen.xml (see XML format description)

Symbolic domain

kitchen.pddl

Remark :

Task-Motion interaction

pick or place map to whole body motion.

Problems

kitchen_pb.pddl