lunge

name	lunge
description	Steps into a forward lunge with the front knee bent over the foot and the rear leg extended back onto its toes. Use when the command mentions lunge, forward lunge, do a lunge, or lunges.
category	exercise
disable-model-invocation	true
subskills	["move-leg","bend-knees","shift-weight","balance-and-posture"]

Lunge

A forward lunge: one leg flexes forward (hip + knee), the other extends behind with the heel up, and the body sinks.

How

• Front leg (Right here): hip flex RightUpLeg:[55,0,0], knee RightLeg:[80,0,0], foot flat RightFoot:[90,0,0].
• Rear leg (Left): hip EXTENDED back LeftUpLeg:[-25,0,0] (negative X = thigh back), knee LeftLeg:[60,0,0], up on the toes LeftFoot:[60,0,0].
• Keep the torso tall (Spine:[5,0,0]) and drop root.y:-0.3. Swap sides to lunge with the other leg.

Example

• "do a lunge" -> {"durationMs":1200,"say":"Lunge.","pose":{"RightUpLeg":[55,0,0],"RightLeg":[80,0,0],"RightFoot":[90,0,0],"LeftUpLeg":[-25,0,0],"LeftLeg":[60,0,0],"LeftFoot":[60,0,0],"Spine":[5,0,0]},"root":{"y":-0.3}}