balance-tray

name	balance-tray
description	Balances a tray on one flat upturned hand, steadying it with little corrections. Use when the command mentions balance a tray, carry a tray, hold a tray, or serve from a tray.
category	action
disable-model-invocation	true
subskills	["move-arm","rotate-wrist"]

Balance a Tray

Hold one flat hand up palm-up like a waiter and steady a tray with small tilts.

How

• Tray hand up: RightUpperArm:[55,0,-25], RightForearm:[0,0,95], palm up (RightHand:[0,-80,0]).
• Steady: tiny wrist corrections. loop:true.

Example

• "balance the tray" -> {"durationMs":2000,"say":"Steady...","sequence":{"loop":true,"frames":[{"t":0,"pose":{"RightUpperArm":[55,0,-25],"RightForearm":[0,0,95],"RightHand":[0,-80,0]}},{"t":0.5,"pose":{"RightHand":[8,-80,0]}},{"t":1,"pose":{"RightHand":[-8,-80,0]}}]}}