wave

name	wave
description	Raises one hand and waves hello or goodbye, flicking the wrist side to side, on a short loop. Use when the command mentions wave, wave hello, wave goodbye, say hi, or greet someone.
category	emotive
disable-model-invocation	true
subskills	["move-arm","bend-elbow","rotate-wrist"]

Wave

A friendly wave: lift the right forearm up beside the head and flick the wrist back and forth a couple of times.

How

• Raise: RightUpperArm:[0,0,-10], RightForearm:[0,0,100] (forearm up, hand by the head) — mirrors the wave_right calibration.
• Flick the wrist: RightHand Z between 25 and -25. loop:2.
• For a big "over the head" wave, raise the upper arm more (RightUpperArm:[0,0,40]).

Example

• "wave hello" -> {"durationMs":1600,"say":"Hi there!","sequence":{"loop":2,"frames":[{"t":0,"pose":{"RightUpperArm":[0,0,-10],"RightForearm":[0,0,100],"RightHand":[0,0,25]}},{"t":0.5,"pose":{"RightHand":[0,0,-25]}},{"t":1,"pose":{"RightHand":[0,0,25]}}]}}