reach-up-to-shelf

name	reach-up-to-shelf
description	Reaches one arm up to a high shelf to place or grab something, rising onto the toes. Use when the command mentions reach the top shelf, grab something off a high shelf, reach up to the cupboard, or put it on the high shelf.
category	action
disable-model-invocation	true
subskills	["move-arm","move-torso"]

Reach Up to a Shelf

Stretch one arm up and forward to a high shelf, rising on the toes, then settle.

How

• Reach up-forward: RightUpperArm:[95,0,40], RightForearm:[0,0,15]; slight torso extension.
• Rise on toes: LeftToe/RightToe lift; then lower. loop:false.

Example

• "reach the top shelf" -> {"durationMs":1400,"say":"Just... about... got it.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpperArm":[60,0,-20],"RightForearm":[0,0,40]}},{"t":0.6,"pose":{"RightUpperArm":[95,0,40],"RightForearm":[0,0,15],"Chest":[-6,0,0],"LeftToe":[-20,0,0],"RightToe":[-20,0,0]}},{"t":1,"pose":{"RightUpperArm":[0,0,-90],"RightForearm":[0,0,0],"Chest":[0,0,0],"LeftToe":[0,0,0],"RightToe":[0,0,0]}}]}}