prop-foot-on-surface

name	prop-foot-on-surface
description	Walks the character to a low surface and props one foot up on it while standing. Use when the user says put your foot up on the stool, rest your foot on the coffee table, or prop a foot up.
category	furniture
disable-model-invocation	true
subskills	["walk","move-leg","balance-and-posture"]

prop-foot-on-surface

Prop a foot up: walk to a low surface (moveTo:{"target":"stoolTop"} or coffeeTableTop), stay posture:"stand" on the planted foot, and lift the other foot up onto it (*UpLeg/*Leg flexed).

Recipes / Worked Actions (minified JSON — uses the posture/surfaces contract)

• "put your foot up on the stool" -> {"durationMs":2200,"posture":"stand","moveTo":{"target":"stoolTop"},"pose":{"RightUpLeg":[60,0,0],"RightLeg":[70,0,0]},"say":"Foot up."}