<filename>opentamp/src/policy_hooks/baxter/vector_include.py
def get_vector(num_cans):
    state_vector_include = {
        'baxter': ['lArmPose', 'lGripper', 'rArmPose', 'rGripper']
    }

    for i in range(num_cans):
        state_vector_include['cloth{0}'.format(i)] = ['pose']

    action_vector_include = {
        'baxter': ['lArmPose', 'lGripper', 'rArmPose', 'rGripper']
    }

    target_vector_include = {
        'middle_target_1':  ['value'],
        'middle_target_2':  ['value'],
    }

    for i in range(num_cans):
        target_vector_include['cloth{0}_end_target'.format(i)] = ['value']

    return state_vector_include, action_vector_include, target_vector_include

<filename>opentamp/src/policy_hooks/baxter/vector_include.py
def get_vector(num_cans):
    state_vector_include = {
        'baxter': ['lArmPose', 'lGripper', 'rArmPose', 'rGripper']
    }

    for i in range(num_cans):
        state_vector_include['cloth{0}'.format(i)] = ['pose']

    action_vector_include = {
        'baxter': ['lArmPose', 'lGripper', 'rArmPose', 'rGripper']
    }

    target_vector_include = {
        'middle_target_1':  ['value'],
        'middle_target_2':  ['value'],
    }

    for i in range(num_cans):
        target_vector_include['cloth{0}_end_target'.format(i)] = ['value']

    return state_vector_include, action_vector_include, target_vector_include
