Putting into sorted heaps

Responsible partner: CVUT

Description

Putting of labeled garment into sorted heap.

Preconditions

Garment is held by gripper of selected arm.

Inputs

  1. arm (string)
    - specify used arm (and appropriate xtion) { r1, r2 }
  2. table_desk (string)
    - the name of the table desk where garment is located { t1, t2, t3 }
  3. num_segments_x (int)
    - number of segments to which table will be divided in its x direction
  4. num_segments_y (int)
    - number of segments to which table will be divided in its y direction
  5. index (int)
    - index of the table segment where the garment will be put on
    - { 0 .. num_segments_x * num_segments_y - 1 }

Outputs

  1. success (bool)
    - action completed successfully { true, false }
  2. error_message (string)
    - description of error, if success = false
    {MOVE_EXT_ERROR, TABLE_SIZE_ERROR, SEGMENT_CENTER_ERROR, PUT_ERROR}

Failure conditions, recovery from failure

Performance / robustness indicators