Download page pb2
This page contains all the necessary files/information to set up this benchmark, along with comprehensive explanation.
Contents
Overview
No more than 2 blocks can be stacked on the table because of the hovering obstacle, therefore the pile has to be constructed on one of the trays. No more than 5 blocks can be stacked on the blue tray because of kinematic constraints, therefore solutions to problems with more than 5 blocks require to construct the pile on the red tray.
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Geometries
This archive file contains all the meshes in OBJ format (and .mtl files for colors):
- the blocks
- the red and blue trays
- the hovering obstacle
- the table
Remarks :
- The origin of the reference frame attached to... SSSP of the blocks.
Initial scene
- SSSP: table, trays, and blocks
- SOP: For blocks: upright position, any rotation about the world z-axis.
- The base and the torso are not allowed to move in this problem.
- Grasps: top-grasp (continuous)
This archive file contains the 8 XML files for the 8 different problems size:
blocksworld_xml.tar.gz (see XML format description)
Symbolic domain
Remark : Instead of the four suggested operators, alternatively use the operators pick and place instead of pickup/unstack or putdown/stack.
Task-Motion interaction
pick or place map to the motion of both arms (i.e., if an action is performed with a given arm, the other arm is allowed to move).
Problems
blocksworld_pb_C.pddl
blocksworld_pb_D.pddl
blocksworld_pb_E.pddl
blocksworld_pb_F.pddl
blocksworld_pb_G.pddl
blocksworld_pb_H.pddl
blocksworld_pb_I.pddl
blocksworld_pb_J.pddl
