open-can

name	open-can
description	Opens a can with a hand crank can opener, cranking it around the rim, on a loop. Use when the command mentions open a can, use a can opener, crank it open, or open the tin.
category	action
disable-model-invocation	true
subskills	["rotate-wrist","move-arm"]

Open a Can

Clamp a can opener on the rim with one hand and crank the handle round with the other. Loops.

How

• Clamp the opener: LeftUpperArm:[58,0,22], LeftForearm:[0,0,-85].
• Crank: right hand turns small circles (RightHand Z) around. loop:true.

Example

• "open the can" -> {"durationMs":1800,"say":"Round and round.","sequence":{"loop":true,"frames":[{"t":0,"pose":{"LeftIndex1":[45,0,0],"LeftMiddle1":[45,0,0],"LeftRing1":[45,0,0],"LeftPinky1":[45,0,0],"LeftThumb1":[40,0,-40],"LeftUpperArm":[58,0,22],"LeftForearm":[0,0,-85],"RightIndex1":[45,0,0],"RightMiddle1":[45,0,0],"RightRing1":[45,0,0],"RightPinky1":[45,0,0],"RightThumb1":[40,0,40],"RightUpperArm":[58,0,-18],"RightForearm":[0,0,90],"RightHand":[0,0,25]}},{"t":0.5,"pose":{"RightHand":[0,0,-25],"RightForearm":[0,0,100]}},{"t":1,"pose":{"RightHand":[0,0,25],"RightForearm":[0,0,90]}}]}}