tennis-forehand

name	tennis-forehand
description	Mimes a tennis forehand groundstroke, taking the racket back with a torso turn then swinging across the front and finishing over the shoulder. Use when the command mentions tennis forehand, forehand, or swing a racket.
category	sport
disable-model-invocation	true
subskills	["move-arm","move-torso"]

Tennis Forehand

A forehand groundstroke: coil with a backswing (twist right), swing the right arm across in front of the body, and finish over the left shoulder.

How

• Backswing: twist right Spine:[0,25,0],Chest:[0,15,0], RightUpperArm:[0,0,-40] (racket back/out).
• Contact in front: RightUpperArm:[70,0,0], untwist Spine:[0,-10,0].
• Finish: Spine:[0,-35,0], RightUpperArm:[40,0,40] over the shoulder.

Example

• "hit a forehand" -> {"durationMs":1300,"say":"Forehand!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[0,25,0],"Chest":[0,15,0],"RightUpperArm":[0,0,-40],"RightForearm":[0,0,60]}},{"t":0.5,"pose":{"Spine":[0,-10,0],"RightUpperArm":[70,0,0],"RightForearm":[0,0,10]}},{"t":1,"pose":{"Spine":[0,-35,0],"Chest":[0,-20,0],"RightUpperArm":[40,0,40],"RightForearm":[0,0,30]}}]}}