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. Author manuscript; available in PMC: 2014 Sep 13.
Published in final edited form as: Int J Med Robot. 2013 Sep 13;10(3):344–355. doi: 10.1002/rcs.1534

Table 3.

Peg states and their corresponding integer codes

0 Peg is on peg to the right
1 Peg is on peg to the left
2 Peg on ground and not on any peg
3 Peg has been picked by the right tool
4 Peg has been picked by the left tool
5 Peg has been transferred from right to left tool
6 Peg has been transferred from left to right tool
7 Peg has been dropped by the right tool
8 Peg has been dropped by the left tool
9 Peg is outside of the board