pick-something-up

name	pick-something-up
description	Mimes picking an object up off the floor by bending the knees and torso, reaching down, then rising holding it. Use when the command mentions pick up, pick something up, grab off the floor, or bend down and lift.
category	action
disable-model-invocation	true
subskills	["bend-knees","move-torso","move-arm"]

Pick Something Up

Squat and hinge to reach the floor, then stand back up holding the object at the waist.

How

• Down: bend Spine:[55,0,0],Chest:[20,0,0], bend knees (*UpLeg:[40,0,0],*Leg:[60,0,0]), look down, root.y:-0.2. The hanging arms reach the floor.
• Up: legs back to rest, slight Spine:[10,0,0], forearms folded holding at the waist (LeftForearm:[0,0,-70],RightForearm:[0,0,70]), root.y:0.

Example

• "pick that up" -> {"durationMs":1600,"say":"Let me grab that.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[0,0,0],"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90]},"root":{"y":0}},{"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],"Neck":[20,0,0],"Head":[15,0,0]},"root":{"y":-0.2}},{"t":1,"pose":{"Spine":[10,0,0],"Chest":[5,0,0],"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"LeftUpperArm":[60,0,20],"LeftForearm":[0,0,-70],"RightUpperArm":[60,0,-20],"RightForearm":[0,0,70]},"root":{"y":0}}]}}