Variables Spaces Definition

Please note that the spaces below are still preliminary, not refined yet, subject to changing.

Reaching Variable Spaces

Table of Reaching Intervention Spaces

Variable

SubVariable

Space A

Space B

joint_positions

None

[[-1.57, -1.2, -3.0] * 3,
[-0.69, 0, 0] * 3]]

[[-0.69, 0, 0] * 3,
[1.0, 1.57, 3.0] * 3]

goal_60
or goal_120
or goal_300

cylindrical_position

[[0.0, - math.pi, 0.0075],
[0.11, math.pi, 0.15]]

[[0.11, - math.pi, 0.0075]
[0.15, math.pi, 0.3]]

goal_60
or goal_120
or goal_300

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

goal_60
or goal_120
or goal_300

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

floor_color

None

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stage_color

None

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

floor_friction

None

[0.3, 0.6]

[0.6, 0.8]

stage_friction

None

[0.3, 0.6]

[0.6, 0.8]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

color

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

mass

[0.015, 0.045]

[0.045, 0.1]

number_of_obstacles

None

[1, 5]

[1, 5]

Pushing Variable Spaces

  • Notation: h refers to the height of the block.

Table of Pushing Intervention Spaces

Variable

SubVariable

Space A

Space B

joint_positions

None

[[-1.57, -1.2, -3.0] * 3,
[-0.69, 0, 0] * 3]]

[[-0.69, 0, 0] * 3,
[1.0, 1.57, 3.0] * 3]

tool_block

cylindrical_position

[[0.0, - math.pi, h/2],
[0.11, math.pi, h/2]]

[[0.11, - math.pi, h/2]
[0.15, math.pi, h/2]]

tool_block

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

tool_block

size

[[0.055, 0.055, 0.055],
[0.075, 0.075, 0.075]]

[[0.075, 0.075, 0.075],
[0.095, 0.095, 0.095]]

tool_block

mass

[0.015, 0.045]

[0.045, 0.1]

tool_block

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

goal_block

cylindrical_position

[[0.0, - math.pi, h/2],
[0.11, math.pi, h/2]]

[[0.11, - math.pi, h/2]
[0.15, math.pi, h/2]]

goal_block

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

goal_block

size

[[0.055, 0.055, 0.055],
[0.075, 0.075, 0.075]]

[[0.075, 0.075, 0.075],
[0.095, 0.095, 0.095]]

goal_block

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

floor_color

None

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stage_color

None

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

floor_friction

None

[0.3, 0.6]

[0.6, 0.8]

stage_friction

None

[0.3, 0.6]

[0.6, 0.8]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

color

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

mass

[0.015, 0.045]

[0.045, 0.1]

Picking Variable Spaces

  • Notation: h refers to the height of the block.

Table of Picking Intervention Spaces

Variable

SubVariable

Space A

Space B

joint_positions

None

[[-1.57, -1.2, -3.0] * 3,
[-0.69, 0, 0] * 3]]

[[-0.69, 0, 0] * 3,
[1.0, 1.57, 3.0] * 3]

tool_block

cylindrical_position

[[0.0, - math.pi, h/2],
[0.11, math.pi, 0.15]]

[[0.11, - math.pi, 0.15]
[0.15, math.pi, 0.3]]

tool_block

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

tool_block

size

[[0.055, 0.055, 0.055],
[0.075, 0.075, 0.075]]

[[0.075, 0.075, 0.075],
[0.095, 0.095, 0.095]]

tool_block

mass

[0.015, 0.045]

[0.045, 0.1]

tool_block

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

goal_block

cylindrical_position

[[0.0, - math.pi, 0.08],
[0.11, math.pi, 0.20]]

[[0.11, - math.pi, 0.20]
[0.15, math.pi, 0.25]]

goal_block

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

goal_block

size

[[0.055, 0.055, 0.055],
[0.075, 0.075, 0.075]]

[[0.075, 0.075, 0.075],
[0.095, 0.095, 0.095]]

goal_block

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

floor_color

None

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stage_color

None

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

floor_friction

None

[0.3, 0.6]

[0.6, 0.8]

stage_friction

None

[0.3, 0.6]

[0.6, 0.8]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

color

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

mass

[0.015, 0.045]

[0.045, 0.1]

PickAndPlace Variable Spaces

  • Notation: h refers to the height of the block.

Table of PickAndPlace Intervention Spaces

Variable

SubVariable

Space A

Space B

joint_positions

None

[[-1.57, -1.2, -3.0] * 3,
[-0.69, 0, 0] * 3]]

[[-0.69, 0, 0] * 3,
[1.0, 1.57, 3.0] * 3]

tool_block

cylindrical_position

[[0.07, np.pi/6, h/2],
[0.12, (5 / 6.0) * np.pi, h/2]]

[[0.12, np.pi / 6, h/2]
[0.15, (5 / 6.0) * np.pi, h/2]]

tool_block

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

tool_block

size

[[0.055, 0.055, 0.055],
[0.075, 0.075, 0.075]]

[[0.075, 0.075, 0.075],
[0.095, 0.095, 0.095]]

tool_block

mass

[0.015, 0.045]

[0.045, 0.1]

tool_block

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

goal_block

cylindrical_position

[[0.07, np.pi/6, h/2],
[0.12, (5 / 6.0) * np.pi, h/2]]

[[0.12, np.pi / 6, h/2]
[0.15, (5 / 6.0) * np.pi, h/2]]

goal_block

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

goal_block

size

[[0.055, 0.055, 0.055],
[0.075, 0.075, 0.075]]

[[0.075, 0.075, 0.075],
[0.095, 0.095, 0.095]]

goal_block

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

obstacle

size

[[0.5, 0.015, 0.02]
, [0.5, 0.015, 0.065]]

[[0.5, 0.015, 0.065]
, [0.5, 0.015, 0.1]]

floor_color

None

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stage_color

None

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

floor_friction

None

[0.3, 0.6]

[0.6, 0.8]

stage_friction

None

[0.3, 0.6]

[0.6, 0.8]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

color

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

mass

[0.015, 0.045]

[0.045, 0.1]

Stacking2 Variable Spaces

  • Notation: h refers to the height of the block.

Table of Stacking2 Intervention Spaces

Variable

SubVariable

Space A

Space B

joint_positions

None

[[-1.57, -1.2, -3.0] * 3,
[-0.69, 0, 0] * 3]]

[[-0.69, 0, 0] * 3,
[1.0, 1.57, 3.0] * 3]

tool_block_1
or tool_block_2

cylindrical_position

[[0.0, - math.pi, h/2],
[0.11, math.pi, h/2]]

[[0.11, - math.pi, h/2]
[0.15, math.pi, h/2]]

tool_block_1
or tool_block_2

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

tool_block_1
or tool_block_2

mass

[0.015, 0.045]

[0.045, 0.1]

tool_block_1
or tool_block_2

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

goal_block_1
or goal_block_2

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

goal_tower

cylindrical_position

[[0.07, np.pi/6, h/2],
[0.12, (5 / 6.0) * np.pi, h/2]]

[[0.12, np.pi / 6, h/2]
[0.15, (5 / 6.0) * np.pi, h/2]]

goal_tower

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

floor_color

None

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stage_color

None

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

floor_friction

None

[0.3, 0.6]

[0.6, 0.8]

stage_friction

None

[0.3, 0.6]

[0.6, 0.8]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

color

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

mass

[0.015, 0.045]

[0.045, 0.1]

Towers Variable Spaces

  • Notation: h refers to the height of the block.

Table of Towers Intervention Spaces

Variable

SubVariable

Space A

Space B

joint_positions

None

[[-1.57, -1.2, -3.0] * 3,
[-0.69, 0, 0] * 3]]

[[-0.69, 0, 0] * 3,
[1.0, 1.57, 3.0] * 3]

tool_level_l_col_c_row_r
where l is the level number
c is the col number
r is the row number

cylindrical_position

[[0.0, - math.pi, h/2],
[0.11, math.pi, 0.15]]

[[0.11, - math.pi, 0.15]
[0.15, math.pi, 0.3]]

tool_level_l_col_c_row_r
where l is the level number
c is the col number
r is the row number

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

tool_level_l_col_c_row_r
where l is the level number
c is the col number
r is the row number

mass

[0.015, 0.045]

[0.045, 0.1]

tool_level_l_col_c_row_r
where l is the level number
c is the col number
r is the row number

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

number_of_blocks_in_tower

None

[[1, 1, 1],
[4, 4, 4]]

[[4, 4, 4],
[6, 6, 6]]

blocks_mass

None

[0.02, 0.06]

[0.06, 0.08]

tower_dims

None

[[0.08, 0.08, 0.08],
[0.12, 0.12, 0.12]]

[[0.12, 0.12, 0.12],
[0.20, 0.20, 0.20]]

tower_center

None

[[-0.1, -0.1],
[0.05, 0.05]]

[[0.05, 0.05],
[0.1, 0.1]]

floor_color

None

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stage_color

None

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

floor_friction

None

[0.3, 0.6]

[0.6, 0.8]

stage_friction

None

[0.3, 0.6]

[0.6, 0.8]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

color

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

mass

[0.015, 0.045]

[0.045, 0.1]

StackedBlocks Variable Spaces

  • Notation: h refers to the height of the block.

Table of StackedBlocks Intervention Spaces

Variable

SubVariable

Space A

Space B

joint_positions

None

[[-1.57, -1.2, -3.0] * 3,
[-0.69, 0, 0] * 3]]

[[-0.69, 0, 0] * 3,
[1.0, 1.57, 3.0] * 3]

tool_level_l_num_n
where l is the level number
n is the number of block
in the level

cylindrical_position

[[0.0, - math.pi, h/2],
[0.11, math.pi, 0.15]]

[[0.11, - math.pi, 0.15]
[0.15, math.pi, 0.3]]

tool_level_l_num_n
where l is the level number
n is the number of block
in the level

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

tool_level_l_num_n
where l is the level number
n is the number of block
in the level

mass

[0.015, 0.045]

[0.045, 0.1]

tool_level_l_num_n
where l is the level number
n is the number of block
in the level

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stack_levels

None

[1, 5]

[6, 8]

blocks_mass

None

[0.02, 0.06]

[0.06, 0.08]

blocks_min_size

None

[0.035, 0.065]

[0.065, 0.075]

max_level_width

None

[0.035, 0.12]

[0.12, 0.15]

floor_color

None

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stage_color

None

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

floor_friction

None

[0.3, 0.6]

[0.6, 0.8]

stage_friction

None

[0.3, 0.6]

[0.6, 0.8]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

color

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

mass

[0.015, 0.045]

[0.045, 0.1]

CreativeStackedBlocks Variable Spaces

  • Notation: h refers to the height of the block.

Table of CreativeStackedBlocks Intervention Spaces

Variable

SubVariable

Space A

Space B

joint_positions

None

[[-1.57, -1.2, -3.0] * 3,
[-0.69, 0, 0] * 3]]

[[-0.69, 0, 0] * 3,
[1.0, 1.57, 3.0] * 3]

tool_level_l_num_n
where l is the level number
n is the number of block
in the level

cylindrical_position

[[0.0, - math.pi, h/2],
[0.11, math.pi, 0.15]]

[[0.11, - math.pi, 0.15]
[0.15, math.pi, 0.3]]

tool_level_l_num_n
where l is the level number
n is the number of block
in the level

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

tool_level_l_num_n
where l is the level number
n is the number of block
in the level

mass

[0.015, 0.045]

[0.045, 0.1]

tool_level_l_num_n
where l is the level number
n is the number of block
in the level

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stack_levels

None

[1, 5]

[6, 8]

blocks_mass

None

[0.02, 0.06]

[0.06, 0.08]

blocks_min_size

None

[0.035, 0.065]

[0.065, 0.075]

max_level_width

None

[0.035, 0.12]

[0.12, 0.15]

floor_color

None

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stage_color

None

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

floor_friction

None

[0.3, 0.6]

[0.6, 0.8]

stage_friction

None

[0.3, 0.6]

[0.6, 0.8]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

color

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

mass

[0.015, 0.045]

[0.045, 0.1]

General Variable Spaces

  • Notation: h refers to the height of the block.

Table of General Intervention Spaces

Variable

SubVariable

Space A

Space B

joint_positions

None

[[-1.57, -1.2, -3.0] * 3,
[-0.69, 0, 0] * 3]]

[[-0.69, 0, 0] * 3,
[1.0, 1.57, 3.0] * 3]

tool_n
where n is the number of block

cylindrical_position

[[0.0, - math.pi, h/2],
[0.11, math.pi, 0.15]]

[[0.11, - math.pi, 0.15]
[0.15, math.pi, 0.3]]

tool_n
where n is the number of block

euler_orientation

[[0, 0, -math.pi],
[0, 0, math.pi]]

[[0, 0, -math.pi],
[0, 0, math.pi]]

tool_n
where n is the number of block

mass

[0.015, 0.045]

[0.045, 0.1]

tool_n
where n is the number of block

color

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

nums_objects

None

[1, 5]

[6, 9]

blocks_mass

None

[0.02, 0.06]

[0.06, 0.08]

tool_block_size

None

[0.05, 0.07]

[0.04, 0.05]

floor_color

None

[[0.5, 0.5, 0.5]
, [1, 1, 1]]

[[0, 0, 0],
[0.5, 0.5, 0.5]]

stage_color

None

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

floor_friction

None

[0.3, 0.6]

[0.6, 0.8]

stage_friction

None

[0.3, 0.6]

[0.6, 0.8]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

color

[[0, 0, 0],
[0.5, 0.5, 0.5]]

[[0.5, 0.5, 0.5],
[1, 1, 1]]

robot_finger_60_link_0
or robot_finger_60_link_1
or robot_finger_60_link_2
or robot_finger_60_link_3
or robot_finger_120_link_0
or robot_finger_120_link_1
or robot_finger_120_link_2
or robot_finger_120_link_3
or robot_finger_300_link_0
or robot_finger_300_link_1
or robot_finger_300_link_2
or robot_finger_300_link_3

mass

[0.015, 0.045]

[0.045, 0.1]

Variables Without Spaces Yet

  • robot_height

  • gravity

  • velocities in general

  • others in a followup version including shape for instance.