iron-clothes

name	iron-clothes
description	Irons clothes, pushing an iron back and forth over a board with long strokes, on a loop. Use when the command mentions iron, iron a shirt, do the ironing, press the clothes, or use an iron.
category	action
disable-model-invocation	true
subskills	["move-arm","move-torso"]

Iron Clothes

Push an iron forward and back across a board with long even strokes. Loops.

How

• Iron on the board: RightUpperArm:[72,0,-12], RightForearm:[0,0,55] + grip; steady with the left.
• Stroke: lean and extend forward, then pull back. loop:true.

Example

• "iron the shirt" -> {"durationMs":2000,"say":"Nice and crisp.","sequence":{"loop":true,"frames":[{"t":0,"pose":{"RightIndex1":[45,0,0],"RightMiddle1":[45,0,0],"RightRing1":[45,0,0],"RightPinky1":[45,0,0],"RightThumb1":[40,0,40],"RightUpperArm":[72,0,-12],"RightForearm":[0,0,60],"LeftUpperArm":[62,0,22],"LeftForearm":[0,0,-55],"Spine":[12,0,0]}},{"t":0.5,"pose":{"RightForearm":[0,0,30],"Spine":[20,0,0]}},{"t":1,"pose":{"RightForearm":[0,0,60],"Spine":[12,0,0]}}]}}