move-hand-and-fingers

name	move-hand-and-fingers
description	Poses the wrist and individual fingers/thumb to make hand shapes — fist, open/flat hand, pointing one finger, thumbs-up, peace sign, counting, OK sign — and to curl or extend specific fingers. Use whenever a command mentions fingers, thumb, fist, pointing (with a finger), gestures, grabbing/gripping, open or close the hand, wrist, knuckles, or counting on fingers.
category	gesture
disable-model-invocation	true

move-hand-and-fingers

Atomic primitive for the wrist + fingers. Joints per side:

• Wrist: {Side}Hand
• Fingers (3 segments each, proximal→distal): {Side}{Finger}{1,2,3} where Finger ∈ Thumb, Index, Middle, Ring, Pinky and Side ∈ Left, Right. e.g. RightIndex1, RightIndex2, RightIndex3, LeftThumb1, ...

Angles are ABSOLUTE local euler [x,y,z] deg, XYZ. A finger's local +Y points out toward the fingertip; curling toward the palm is +X.

Curl rule (the core idea)

• Straight/extended finger: each segment [0,0,0].
• Curled finger: positive X per segment. Light curl ≈ [40,0,0]; firm curl ≈ [80,0,0] on segments 1 & 2 and [70,0,0] on segment 3 (tip).
• Thumb is special: it sits across the palm and keeps a sideways splay on Z. Rest: RightThumb1:[0,0,40], LeftThumb1:[0,0,-40]. Curl the thumb with X while keeping a Z splay (~±40).

Ground truth: point_down_left_index (left index extended, rest curled)

LeftIndex1:[0,0,0], LeftIndex2:[0,0,0], LeftIndex3:[0,0,0],
LeftMiddle1:[80,0,0], LeftMiddle2:[80,0,0], LeftMiddle3:[70,0,0],
LeftRing1:[80,0,0],   LeftRing2:[80,0,0],   LeftRing3:[70,0,0],
LeftPinky1:[80,0,0],  LeftPinky2:[80,0,0],  LeftPinky3:[70,0,0],
LeftThumb1:[60,0,40], LeftThumb2:[50,0,0]

Mirror the Left→Right names to do the same on the other hand.

Hand-shape recipes (substitute the Side)

• Point with the index finger: index segments [0,0,0]; curl Middle/Ring/Pinky to [80,0,0]/[80,0,0]/[70,0,0]; curl thumb in (Thumb1:[60,0,40], Thumb2:[50,0,0]). (To aim it, also use move-arm to raise the arm and move-hand-and-fingers wrist; e.g. "point up" → raise the arm + extend index.)
• Fist / grab / make a fist: ALL four fingers [80,0,0]/[80,0,0]/[70,0,0], thumb folded across Thumb1:[55,0,40],Thumb2:[45,0,0].
• Open / flat / spread hand: every finger segment [0,0,0], thumb back to rest splay (RightThumb1:[0,0,40] / LeftThumb1:[0,0,-40]).
• Thumbs-up: curl Index/Middle/Ring/Pinky into a fist (as above), thumb EXTENDED straight (Thumb1:[0,0,40] right / [0,0,-40] left, Thumb2:[0,0,0], Thumb3:[0,0,0]). Pair with move-arm/wrist so the thumb points upward.
• Peace / "two" / victory: Index & Middle straight [0,0,0], splay them slightly on Z (Index [0,0,-12], Middle [0,0,12]); curl Ring/Pinky + thumb.
• Counting N: keep N fingers straight (start Index, then Middle, Ring, Pinky), curl the rest; thumb adds the 5th.
• OK sign: Index curled to touch thumb (Index [55,0,0]/[55,0,0]/[40,0,0], thumb [40,0,40]), Middle/Ring/Pinky extended [0,0,0].

Wrist ({Side}Hand)

Rest [0,0,0]. Small motions only: flex/extend via X (±~30), side-to-side flick via Z (±~25, as in a wave). Example wave flick: RightHand:[0,0,25] ↔ [0,0,-25].

Worked Actions

• "point your right index finger" → {"durationMs":700,"pose":{"RightIndex1":[0,0,0],"RightIndex2":[0,0,0],"RightIndex3":[0,0,0],"RightMiddle1":[80,0,0],"RightMiddle2":[80,0,0],"RightMiddle3":[70,0,0],"RightRing1":[80,0,0],"RightRing2":[80,0,0],"RightRing3":[70,0,0],"RightPinky1":[80,0,0],"RightPinky2":[80,0,0],"RightPinky3":[70,0,0],"RightThumb1":[60,0,40],"RightThumb2":[50,0,0]}}
• "make a fist" (right) → {"durationMs":500,"pose":{"RightIndex1":[80,0,0],"RightIndex2":[80,0,0],"RightIndex3":[70,0,0],"RightMiddle1":[80,0,0],"RightMiddle2":[80,0,0],"RightMiddle3":[70,0,0],"RightRing1":[80,0,0],"RightRing2":[80,0,0],"RightRing3":[70,0,0],"RightPinky1":[80,0,0],"RightPinky2":[80,0,0],"RightPinky3":[70,0,0],"RightThumb1":[55,0,40],"RightThumb2":[45,0,0]}}

Limits

Finger flexion stays in 0..90 per segment; fingers don't bend backward or sideways beyond a few degrees. Emit only the finger joints you change.