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 sticks
• green sticks
• red sticks
• table
• arena

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 sticks: upright position, any rotation about the world z-axis.
• The base is allowed to move in this problem.

Only the problem for N = 7 is given for now An archive with smaller problem sizes is coming soon.

clutter_xml (see XML format description)

Symbolic domain

clutter.pddl

Remark :

Task-Motion interaction

pick or place map to whole body motion.

Problems

clutter_pb.pddl