move-leg

name	move-leg
description	Poses one or both legs by flexing/extending the hip, knee, and ankle and abducting the leg sideways — for kicking, lifting a knee, kneeling, squatting/crouching, stepping, stomping, pointing or spreading a leg. Use whenever a command mentions legs, knee(s), thigh, hip (as a joint), kick, squat, crouch, kneel, lunge, stomp, step, or balancing on one leg. (For going to a place use `walk`; for sitting on a seat use `sit-and-stand`.)
category	lower-body
disable-model-invocation	true

move-leg

Atomic primitive for the leg chain per side: {Side}UpLeg (hip), {Side}Leg (knee), {Side}Foot (ankle), {Side}Toe. Side ∈ Left, Right.

Angles are ABSOLUTE local euler [x,y,z] deg, XYZ. A leg joint's local +Y points down the bone toward the foot, so leg axes are NOT world-aligned — use the calibrated numbers below.

Rest (standing, legs straight down)

*UpLeg:[0,0,180], *Leg:[0,0,0], *Foot:[90,0,0], *Toe:[0,0,0].

Ground truth: sit (hip & knee both flexed ~90°)

LeftUpLeg:[90,0,0], LeftLeg:[90,0,0], RightUpLeg:[90,0,0], RightLeg:[90,0,0] → thigh swings FORWARD to horizontal (UpLeg:[90,0,0]), shin hangs DOWN (Leg:[90,0,0]). This pose is the reference for any flexed hip+knee. Use it with a root drop to actually sit on a seat (see sit-and-stand).

Joint roles

• Hip flexion (swing thigh forward / lift knee): UpLeg X toward 90 (thigh forward, horizontal). Smaller = thigh still angled down; larger (~120) = thigh above horizontal (high knee). Combine with knee bend.
• Knee: Leg X. 0 = straight; ~90 = bent (paired with a forward thigh as in sit). Knees flex one way only — keep Leg X in 0..150, never negative.
• Ankle: Foot rest [90,0,0] (sole flat, foot forward). Toes DOWN / point / tiptoe: X below 90 (e.g. [60,0,0]). Toes UP / dorsiflex: X above 90 (e.g. [120,0,0]).
• Abduction (spread leg out to the side): UpLeg Z away from rest. LEFT leg: Z from 180 toward 90 (e.g. [0,0,135] = 45° out to the left). RIGHT leg: Z from -180/180 toward -90 (e.g. [0,0,-135] = 45° out to the right).

Recipes (substitute the Side)

• Lift / raise one knee (stand on the other leg): that side UpLeg:[90,0,0], Leg:[90,0,0] (thigh horizontal, shin down). Keep the support leg at rest; see balance-and-posture for the weight shift.
• Kick forward: quick sequence — wind up (knee bent, UpLeg:[45,0,0], Leg:[90,0,0]) then snap out (UpLeg:[90,0,0], Leg:[0,0,0]).
• Squat / crouch / bend your knees: BOTH legs partially flexed + drop the body. e.g. pose:{LeftUpLeg:[55,0,0],LeftLeg:[70,0,0],RightUpLeg:[55,0,0],RightLeg:[70,0,0]}, root:{y:-0.30}. Deeper crouch → larger angles and root.y ~ -0.45.
• Kneel: one leg deeply flexed under, the other knee forward; drop root.y ~ -0.35.
• Stomp: short sequence lifting one foot (knee raise) then planting it (back to rest) — keep loop small (1–2).

Worked Actions

• "lift your right knee" → {"durationMs":700,"pose":{"RightUpLeg":[90,0,0],"RightLeg":[90,0,0]},"say":"Knee up."}
• "do a squat" → {"durationMs":900,"pose":{"LeftUpLeg":[55,0,0],"LeftLeg":[70,0,0],"RightUpLeg":[55,0,0],"RightLeg":[70,0,0]},"root":{"y":-0.3},"say":"Squatting."}
• "point your left foot" → {"durationMs":600,"pose":{"LeftFoot":[60,0,0]}}

Limits & posture

Keep at least one foot grounded unless explicitly jumping. Hips ~-30..120 flexion, knees 0..150 (no hyperextension), ankles ~60..120. For two-leg moves (squat/crouch) stay symmetric and lower root.y so the feet appear planted (see balance-and-posture). Emit only the joints you change.