donkey-kick

name	donkey-kick
description	Performs donkey kicks on hands and knees, driving one bent leg up and back then returning, on a loop. Use when the command mentions donkey kick, glute kickback, or quadruped kickback.
category	exercise
disable-model-invocation	true
subskills	["move-leg","move-torso","balance-and-posture"]

donkey-kick

On all fours, drive one bent knee up and back (hip extension) then return under the hip. Uses posture:kneel (hands-and-knees; don't set root.y).

How

• posture:"kneel". Tabletop torso: Spine:[80,0,0],Chest:[10,0,0]; hands to floor *UpperArm:[120,0,0].
• Tucked (start): working leg RightUpLeg:[90,0,0],RightLeg:[120,0,0].
• Kick: drive up/back RightUpLeg:[10,0,0],RightLeg:[90,0,0]. Loop.

Example

• "do donkey kicks" -> {"durationMs":2200,"say":"Kick it back.","posture":"kneel","sequence":{"loop":true,"frames":[{"t":0,"pose":{"Spine":[80,0,0],"Chest":[10,0,0],"LeftUpperArm":[120,0,0],"RightUpperArm":[120,0,0],"RightUpLeg":[90,0,0],"RightLeg":[120,0,0]}},{"t":0.5,"pose":{"RightUpLeg":[10,0,0],"RightLeg":[90,0,0]}},{"t":1,"pose":{"RightUpLeg":[90,0,0],"RightLeg":[120,0,0]}}]}}