Adam poses a whole arm in one go — and can now bow and nod
Posing an arm used to mean setting one axis at a time. Now a single command places the whole shoulder, elbow or wrist group. The salute was re-calibrated on the real robot so the forearm no longer blocks the neck camera, and two new cards add waist and head motion: bow, side-bend, twist, nod, shake and scan.
Posing is no longer axis-by-axis
Adam's arm has 14 individually addressable axes. Getting it into a sensible pose used to mean setting them one at a time — shoulder, then elbow, then wrist — and missing any step left the arm halfway there.
There are now three group verbs: shoulder, elbow and wrist. One call places the whole group. The fine-grained single-axis controls are still there when you need to nudge something.
Gestures now move the arm and the hand together
Waving, high-fiving, saluting and shaking hands used to move only the arm, leaving the fingers in whatever shape they happened to be in. Each gesture is now bound to a matching hand shape — a flat hand for the salute, an open palm for waving and high-fives, a handshake grip for shaking hands. If the arm moves but the hand shape fails, you get an explicit error instead of a silent success.
The salute was re-calibrated against the real robot. The previous angles put the forearm in front of the stereo camera on the neck; it now stays clear.
Five new hand shapes were added as well: flat hand, finger gun, OK sign, call-me and claw. Flat hand and open palm differ in the thumb, so they don't get confused.
Two new cards: waist and head
| Card | What it does |
|---|---|
| Waist | Lean forward or back, tilt left or right, twist left or right — plus bow, side-bend and twist as continuous sequences |
| Head | Look left, right, up, down — plus nod, shake and scan as continuous sequences |
Both run on the same asynchronous sequence engine as the wave: the robot reports when the motion finishes, you can cancel it mid-way, angles outside the vendor's limits are rejected, and each axis has its own speed cap (0.2 rad/s at the waist, 0.4 rad/s at the head) so nothing snaps.