This is the pose of a person (thumbnail left) who lightly presses his shoulder as if to encourage the other person to say, "Hey, let's go."
It is a nuanced image that does not use strong force to direct attention and encourage action.
Since the person being pushed is assumed to be shorter, adjust the position of your arms and hands according to the height difference of the body type you are using.
「おい、行こうぜ」と相手を促すように肩口を軽く押す人（サムネ左）のポーズです。
強い力は使わず注意を向ける・行動を促すといったニュアンスのイメージです。
押される側の方が背が低い想定になっているため、使用体型の身長差に応じて腕や手の位置を調整してください。
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