What are p1 p2 p3 p4 of kitchen? How can I replicate it?

[bluerand4]

The paper mentions that the kitchen employs P1, P2, P3, P4, while block push utilizes P1 and P2. I believe these numbers represent the number of objects that need to be interacted with for a successful experiment. So, in kitchen P4, one needs to interact with four objects to ensure complete success. However, I am having difficulty identifying where in the code I can modify this parameter to test with greater or lesser complexity. Could someone clarify this for me?