balance-on-one-foot

name	balance-on-one-foot
description	Balances on one foot with the other knee lifted and the arms out, holding steady. Use when a command mentions balance on one foot, stand on one leg, one-legged balance, or hold your balance on a single foot.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","shift-weight","balance-and-posture"]

balance-on-one-foot

Stand on one foot, lift the other knee, arms out, and lean slightly over the support to hold.

Composes: move-leg + shift-weight + balance-and-posture

How

• Static pose (no root.y). Lift one knee (UpLeg/Leg~90), arms out a little, lean the torso over the planted side (Spine Z toward support).
• Hold ~1200 ms.

Example

• "balance on one foot" -> {"durationMs":1200,"pose":{"RightUpLeg":[90,0,0],"RightLeg":[90,0,0],"LeftUpperArm":[0,0,30],"RightUpperArm":[0,0,-30],"Spine":[0,0,12]},"say":"Steady..."}

Limits & posture

Keep ≥1 foot grounded except at a jump's airborne apex; stay inside human joint ranges and keep weight over the support — see balance-and-posture.