pick-fruit

name	pick-fruit
description	Picks fruit, reaching up to twist a piece free and lowering it to a basket, on a loop. Use when the command mentions pick fruit, pick an apple, harvest, pluck it, or pick from the tree.
category	action
disable-model-invocation	true
subskills	["move-arm","rotate-wrist"]

Pick Fruit

Reach up, twist a piece of fruit off, and lower it into a basket. Loops.

How

• Reach up: RightUpperArm:[20,0,70], RightForearm:[0,0,30] + grip.
• Twist free and lower to the side. loop:true.

Example

• "pick the fruit" -> {"durationMs":2000,"say":"Ripe one.","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":[20,0,70],"RightForearm":[0,0,30],"RightHand":[0,40,0]}},{"t":0.5,"pose":{"RightHand":[0,-40,0]}},{"t":1,"pose":{"RightUpperArm":[55,0,-25],"RightForearm":[0,0,75],"RightHand":[0,0,0]}}]}}