| name | rotate-wrist |
| description | Atomic primitive that rotates/flexes ONE wrist (the hand at the forearm) — flick up/down, tilt side to side, or twist palm up/down — without curling the fingers. Use as the wrist building block for waving, knocking, pouring, flicking, or turning the palm over. Mentions wrist, flick the wrist, turn your hand, twist the wrist, palm up, palm down. |
| category | gesture |
| disable-model-invocation | true |
rotate-wrist
Focused single-DOF slice of the hand: the wrist only ({Side}Hand), no finger
curls. For finger shapes (fist, point, thumbs-up) see the chain atomic
move-hand-and-fingers; to position the arm see move-arm.
Side ∈ Left, Right. Angles ABSOLUTE local euler [x,y,z] deg. The hand's local
+Y points down the forearm toward the fingertips, so:
- X = flex/extend (bend the hand up/down), ±~30
- Z = side-to-side flick (radial/ulnar), ±~25 (the classic wave flick)
- Y = twist (palm up ↔ down / pronate-supinate), ±~80
Keep wrist motions small; large turns of the whole hand come from the forearm/arm.
Worked Actions
- "flick your right wrist" →
{"durationMs":400,"pose":{"RightHand":[0,0,25]}}
- "turn your right palm up" →
{"durationMs":500,"pose":{"RightHand":[0,80,0]}}
- "bend your wrist down" (right) →
{"durationMs":400,"pose":{"RightHand":[30,0,0]}}
Limits
Wrist flex/deviation stays within ~±30; twist within ~±80. Emit only the
{Side}Hand joint here.
