open-door

name	open-door
description	Mimes opening a door, reaching for the handle, turning it, and pulling the door open with a slight body turn. Use when the command mentions open the door, open a door, turn the handle, or pull the door open.
category	action
disable-model-invocation	true
subskills	["move-arm","bend-elbow","move-hand-and-fingers"]

Open Door

Reach forward for the handle, turn/pull it, and lean away as the door swings open.

How

• Reach: RightUpperArm:[90,0,0],RightForearm:[0,0,10] (hand to the handle).
• Turn & pull: fold the elbow (RightForearm:[0,0,60]) and turn the torso away (Spine:[0,-10,0]).
• Opened: arm drawn in (RightUpperArm:[60,0,-20],RightForearm:[0,0,90]), Spine:[0,-15,0]. loop:false.

Example

• "open the door" -> {"durationMs":1600,"say":"After you.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpperArm":[90,0,0],"RightForearm":[0,0,10]}},{"t":0.5,"pose":{"RightUpperArm":[80,0,-10],"RightForearm":[0,0,60],"Spine":[0,-10,0]}},{"t":1,"pose":{"RightUpperArm":[60,0,-20],"RightForearm":[0,0,90],"Spine":[0,-15,0]}}]}}