lunge-with-twist

name	lunge-with-twist
description	Performs walking lunges with a torso twist over the front leg each rep, via a translating sequence. Use when a command mentions lunge with a twist, walking lunge twist, rotational lunge, or lunge and rotate.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","move-torso","balance-and-posture"]

lunge-with-twist

Forward walking lunges, each one adding a torso rotation over the leading thigh. Travels forward.

Composes: move-leg + move-torso + 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.
• Front leg lunges (UpLeg~55,Leg80), rear leg back on the toe; twist Spine Y toward the front leg; sink root.y-0.25.
• durationMs ~2800.

Example

• "lunge with a twist" -> {"durationMs":2800,"say":"Lunge and twist.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpLeg":[55,0,0],"RightLeg":[80,0,0],"LeftUpLeg":[-25,0,0],"LeftLeg":[60,0,0],"LeftFoot":[60,0,0],"Spine":[5,30,0]},"root":{"z":0.6,"y":-0.25}},{"t":0.5,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"LeftFoot":[90,0,0],"Spine":[0,0,0]},"root":{"z":1,"y":0}},{"t":1,"pose":{"LeftUpLeg":[55,0,0],"LeftLeg":[80,0,0],"RightUpLeg":[-25,0,0],"RightLeg":[60,0,0],"RightFoot":[60,0,0],"Spine":[5,-30,0]},"root":{"z":1.6,"y":-0.25}}]}}

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.