put-down

name	put-down
description	Mimes setting an object down on the floor by bending the knees and torso to place it, then rising empty-handed. Use when the command mentions put down, set down, place it down, or lower something to the floor.
category	action
disable-model-invocation	true
subskills	["bend-knees","move-torso","move-arm"]

Put Down

The reverse of picking up: start holding at the waist, hinge down to place the object, then rise empty-handed.

How

• Start: forearms folded holding (LeftForearm:[0,0,-70],RightForearm:[0,0,70]), slight Spine:[10,0,0].
• Place: bend Spine:[55,0,0], bend knees (*UpLeg:[40,0,0],*Leg:[60,0,0]), arms straighten down (*UpperArm:[90,0,0],forearms 0), root.y:-0.2.
• Rise empty: legs to rest, arms to rest, root.y:0.

Example

• "put it down" -> {"durationMs":1600,"say":"There we go.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[10,0,0],"LeftUpperArm":[60,0,20],"LeftForearm":[0,0,-70],"RightUpperArm":[60,0,-20],"RightForearm":[0,0,70]}},{"t":0.5,"pose":{"Spine":[55,0,0],"Chest":[20,0,0],"LeftUpLeg":[40,0,0],"LeftLeg":[60,0,0],"RightUpLeg":[40,0,0],"RightLeg":[60,0,0],"LeftUpperArm":[90,0,0],"LeftForearm":[0,0,0],"RightUpperArm":[90,0,0],"RightForearm":[0,0,0]},"root":{"y":-0.2}},{"t":1,"pose":{"Spine":[0,0,0],"Chest":[0,0,0],"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90]},"root":{"y":0}}]}}