| 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.
