States

Json format

The following is an example state in json format, including one gripper and two objects.

{
  "grippers": {
    "1": {
      "x": 5.5,
      "y": 5.5,
      "gripped": "2"
    }
  },
  "objs": {
    "1": {
      "type": "I",
      "x": 10,
      "y": 8,
      "width": 5,
      "height": 5
    },
    "2": {
      "type": "F",
      "x": 3,
      "y": 3,
      "width": 5,
      "height": 5,
      "color": "yellow",
      "mirrored": true,
      "rotation": 90
    }
  } 
}

Object and gripper properties

The table below provides details on the object / gripper properties:

Object class	key	default	description
objs	id_n		identifier, str / int
	type	str: type name, must be specified in type_config in the configuration
	x		float: should be within the interface dimensions
	y		float: should be within the interface dimensions
	width	None	float: horizontal size of the object in blocks
	height	None	float: horizontal size of the object in blocks
	color	"blue"	string: defined CSS color string, name or hex code
	rotation	0	int, one of [0, 90, 180, 270], angle of the object with respect to the base position defined in type_config
	mirrored	False	bool: true if the object is flipped once with respect to the base position defined in type_config. Might not have a visible effect depending on the shape
	gripped	False	bool: true if the object is gripped by some gripper
	block_matrix	[]	0/1 matrix defining the shape of an object made up of blocks. 0 signifies the absence of a block, 1 signifies the presence of a block
grippers	id_n		identifier, str / int
	x		float: should be within the interface dimensions
	y		float: should be within the interface dimensions
	gripped	None	id of the gripped object or null if no object is gripped
	color	"blue"	string: defined CSS color string, name or hex code
	width	1	float: horizontal size of the object in blocks
	height	1	float: horizontal size of the object in blocks

Loading a state

There are several options to change the state of a model.

"load_state"

Using the "load_state" event, a specific state can be loaded. Grippers and objects can be specified in their exact properties and locations.

"random_init"

If some variation to the loaded state is desired, the generation can be randomized. The following parameters are possible:

parameter	values	default	explanation
n_objects	int		number of objects to generate
n_grippers	int		number of grippers to generate
obj_area	str, one of ["all“, "top", "bottom", "left", "right"]	"all"	Area of the board to place objects in. Using "all", the objects have locations randomly selected from the whole board; using "top", only locations within the top half will we chosen, etc.
target_area	null/None or str, one of ["all“, "top", "bottom", "left", "right"]	"all"	If an area is given, a target will be generated for each object. Targets are special objects that may be used in experiments to mark an object's target position. Pass None to not generate any targets.
random_gr_position	bool	False	If set to true, generated grippers will receive random start positions on the board. If false, grippers always start in the center.