FEEL I explores the sensitivity of IIWA to trigger rules in reaction to changes in the context. The objective of the robot is to build a matrix of blocks, but if the robot detects that there have been changes to the expected position of the blocks, it places the block at a new position correcting the rotation. Bellow is a demo of Kuka IIWA working on a small 2×2 matrix at FISTA 2019.