lunge-twist

name	lunge-twist
description	Performs a forward lunge with a torso rotation over the front leg, then returns to stand, on a loop. Use when the command mentions lunge twist, lunge with a twist, or rotational lunge.
category	exercise
disable-model-invocation	true
subskills	["move-leg","move-torso","bend-knees","balance-and-posture"]

lunge-twist

Step into a deep forward lunge, reach the arms forward, then rotate the torso over the front thigh, and return to standing. Loop.

How

• Lunge (left front): LeftUpLeg:[70,0,0],LeftLeg:[80,0,0], trailing (RightUpLeg:[15,0,0],RightLeg:[80,0,0],RightFoot:[60,0,0]), arms forward *UpperArm:[90,0,0], root.y:-0.3.
• Twist: Spine:[10,40,0],Chest:[5,20,0].
• Return to rest. Loop.

Example

• "do a lunge with a twist" -> {"durationMs":2400,"say":"Lunge and twist.","sequence":{"loop":true,"frames":[{"t":0,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180]},"root":{"y":0}},{"t":0.4,"pose":{"LeftUpLeg":[70,0,0],"LeftLeg":[80,0,0],"RightUpLeg":[15,0,0],"RightLeg":[80,0,0],"RightFoot":[60,0,0],"LeftUpperArm":[90,0,0],"RightUpperArm":[90,0,0]},"root":{"y":-0.3}},{"t":0.7,"pose":{"Spine":[10,40,0],"Chest":[5,20,0]}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightLeg":[0,0,0],"Spine":[0,0,0],"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90]},"root":{"y":0}}]}}