leg-raises

name	leg-raises
description	Performs lying leg raises, raising both straight legs up toward vertical and lowering them on a loop. Use when the command mentions leg raises, lying leg lifts, straight leg raises, or lower-ab leg lifts.
category	exercise
disable-model-invocation	true
subskills	["move-leg","balance-and-posture"]

leg-raises

Lie on the back and raise both straight legs from just off the floor up toward vertical, then lower with control. Uses posture:lieBack (engine grounds the body; don't set root.y). Legs stay straight (*Leg:[0,0,0]); hip flex via UpLeg X.

How

• posture:"lieBack". Down (start): *UpLeg:[10,0,0] (legs just off the floor, in line with the torso), *Leg:[0,0,0].
• Up: *UpLeg:[90,0,0] (legs vertical), knees still straight.
• Loop between down and up.

Example

• "do leg raises" -> {"durationMs":2600,"say":"And lift.","posture":"lieBack","sequence":{"loop":true,"frames":[{"t":0,"pose":{"LeftUpLeg":[10,0,0],"RightUpLeg":[10,0,0],"LeftLeg":[0,0,0],"RightLeg":[0,0,0]}},{"t":0.5,"pose":{"LeftUpLeg":[90,0,0],"RightUpLeg":[90,0,0],"LeftLeg":[0,0,0],"RightLeg":[0,0,0]}},{"t":1,"pose":{"LeftUpLeg":[10,0,0],"RightUpLeg":[10,0,0]}}]}}