plant-foot

name	plant-foot
description	Atomic primitive that sets one foot flat and grounded — ankle at its neutral sole-down rest with the toes relaxed — so the body has a stable base. Use as the "place the foot down" building block when ending a step, stomp, kick, or knee-raise, or to fix a foot that is left pointing. Mentions plant your foot, foot flat, set the foot down, ground the foot, flat-footed.
category	lower-body
disable-model-invocation	true

plant-foot

Focused single-primitive slice of the leg chain: just the ankle/foot, returned to a flat, grounded contact. For the hip/knee and stepping/kicking motion see the chain atomic move-leg; for the overall base-of-support rule see balance-and-posture.

Joints: {Side}Foot (ankle) and {Side}Toe. Rest = sole flat, foot forward: {Side}Foot:[90,0,0], {Side}Toe:[0,0,0]. (Toes DOWN / tiptoe = Foot X below 90; toes UP / dorsiflex = above 90.)

Worked Actions

• "plant your right foot" → {"durationMs":300,"pose":{"RightFoot":[90,0,0],"RightToe":[0,0,0]}}
• "put both feet flat on the floor" → {"durationMs":400,"pose":{"LeftFoot":[90,0,0],"LeftToe":[0,0,0],"RightFoot":[90,0,0],"RightToe":[0,0,0]}}

Limits

Ankle stays in ~60..120 around the [90,0,0] rest. Planting a foot does not by itself move the body — pair with move-leg/shift-weight for the rest of a step.