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You can use the "animation" command found under "actor".
Or the "animate" command found under "entity".
The difference between the two is that "animation" will complete the animation and then the unit will return to a neutral stance.
Whereas "animate" will will perform the animation and then remain in the final pose of the animation. At lease till they react to something.
How to view available animations.
1. select a unit.
2. press "U" then "5"
3. select "Aniplay"
4. scroll through available animations and select one.
5. press "Call" to view it.
When you find the one you want copy and pates the animation name into your animation/animate command.