lateral-lunge-walk

name	lateral-lunge-walk
description	Travels sideways with repeated side lunges, sinking into one leg then pushing to the next, via a translating sequence. Use when a command mentions lateral lunge walk, traveling side lunges, side-to-side lunges, or walking lateral lunges. (For a single in-place side lunge, use side-lunge.)
category	locomotion
disable-model-invocation	true
subskills	["move-leg","shift-weight","balance-and-posture"]

lateral-lunge-walk

Step wide to the side, sink into that leg, push off, repeat — traveling laterally. Translate root while OMITTING faceDeg so the heading holds.

Composes: move-leg + shift-weight + balance-and-posture

How

• Use a sequence with loop:false. Frame root is ABSOLUTE; compute the travel axis from state.position+state.faceDeg (0=+Z, 90=+X). The example assumes origin facing +Z. Step x; do NOT set faceDeg.
• Lead leg bends deep (UpLeg~40 abducted,Leg70) with a root.y-0.2 sink; the other stays straight.
• durationMs ~2800.

Example

• "do lateral lunges across" -> {"durationMs":2800,"say":"Side lunge, travel.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpLeg":[40,0,-140],"RightLeg":[70,0,0],"LeftUpLeg":[0,0,180]},"root":{"x":0.5,"y":-0.2}},{"t":0.5,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"x":1,"y":0}},{"t":1,"pose":{"RightUpLeg":[40,0,-140],"RightLeg":[70,0,0]},"root":{"x":1.5,"y":-0.2}}]}}

Limits & posture

Keep ≥1 foot grounded except at a jump's airborne apex; stay inside human joint ranges and keep weight over the support — see balance-and-posture.