pivot-on-heel

name	pivot-on-heel
description	Pivots in place on one heel with the toes lifted, turning to a new heading, via a short sequence. Use when a command mentions pivot on your heel, heel pivot, turn on your heel, or spin on a heel.
category	locomotion
disable-model-invocation	true
subskills	["turn-and-face","plant-foot"]

pivot-on-heel

Turn on a planted heel: dorsiflex that foot (toes up) and sweep faceDeg to the new heading.

Composes: turn-and-face + plant-foot

How

• Use a sequence with loop:false. Lift the pivot foot's toes (Foot X~120) and change faceDeg.
• durationMs ~900.

Example

• "pivot on your heel" -> {"durationMs":900,"say":"Pivot!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightFoot":[120,0,0]},"root":{"faceDeg":0}},{"t":1,"pose":{"RightFoot":[90,0,0]},"root":{"faceDeg":90}}]}}

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.