Shaking

Responsible partner: NEO

Description

Shaking with the robot arm.

Preconditions

Inputs

  1. arm (string)
    - arm which is holding the garment { r1, r2 }
  1. num_shakes (int)
    - numbers of shakes
  1. r_range (double)
    - range of joint_r with shaking (in one direction)
  1. b_range (double)
    - range of joint_r with shaking (in one direction)
  1. t_range (double)
    - range of joint_r with shaking (in one direction)

Outputs

  1. success (bool)
    - action completed successfully { true, false }

Failure conditions, recovery from failure

Performance / robustness indicators