turn-screwdriver

name	turn-screwdriver
description	Holds a screwdriver to a screw and twists the wrist back and forth to drive or remove it, on a loop. Use when the command mentions screw it in, unscrew, use a screwdriver, tighten the screw, or loosen the screw.
category	action
disable-model-invocation	true
subskills	["rotate-wrist","move-arm"]

Use a Screwdriver

Press a screwdriver to a screw in front and crank the wrist round and round.

How

• Tip to the screw: RightUpperArm:[70,0,-10], RightForearm:[0,0,55] + grip.
• Drive: wrist twists with a re-grip each turn. loop:true.

Example

• "screw it in" -> {"durationMs":1800,"say":"Almost tight.","sequence":{"loop":true,"frames":[{"t":0,"pose":{"RightIndex1":[45,0,0],"RightMiddle1":[45,0,0],"RightRing1":[45,0,0],"RightPinky1":[45,0,0],"RightThumb1":[40,0,40],"RightUpperArm":[70,0,-10],"RightForearm":[0,0,55],"RightHand":[0,60,0]}},{"t":0.5,"pose":{"RightHand":[0,-20,0]}},{"t":1,"pose":{"RightHand":[0,60,0]}}]}}