side-stretch

name	side-stretch
description	Raises one arm overhead and leans to the opposite side to stretch the flank. Use when the command mentions side stretch, side bend, stretch your side, reach over, lateral stretch, or stretching the flank.
category	gesture
disable-model-invocation	true
subskills	["move-torso","move-arm"]

Side Stretch

One arm sweeps overhead while the torso leans to the opposite side, stretching the raised side's flank.

How (right arm up, leaning left; mirror for the other side)

• Raise the right arm overhead: RightUpperArm:[0,0,90], elbow straight.
• Lean the torso away from it (to its left): Spine:[0,0,18], Chest:[0,0,12].
• Rest the other hand on the hip: LeftUpperArm:[20,0,55], LeftForearm:[0,0,-110].

Example

• "stretch your side" -> {"durationMs":1100,"say":"Stretching out my side.","pose":{"RightUpperArm":[0,0,90],"RightForearm":[0,0,0],"Spine":[0,0,18],"Chest":[0,0,12],"LeftUpperArm":[20,0,55],"LeftForearm":[0,0,-110]}}