| name | shift-weight |
| description | Atomic balance primitive that shifts the body's weight over one supporting foot with a small torso lean (and optional root nudge), so the other leg is free to lift, kick, or step. Use as the weight-transfer building block before any one-leg move. Mentions shift your weight, lean onto one leg, balance on one foot, transfer weight, weight on left/right leg. |
| category | posture |
| disable-model-invocation | true |
shift-weight
Focused single-primitive of balance: move the center of mass over the support
foot by leaning the torso toward that side. This is the transfer that frees the
other leg. It is a focused slice of balance-and-posture (which carries the
full posture checklist); for the actual lift/kick use move-leg.
Joints: Spine,Chest lean on Z (POSITIVE Z = lean toward its LEFT, NEGATIVE
= toward its right), optionally a small root.x nudge toward the support foot
(world +X = its right). Keep the support {Side}Foot flat at rest [90,0,0]
(see plant-foot).
Recipes
- Weight onto the LEFT foot:
Spine:[0,0,10],Chest:[0,0,8] (optional root.x:-0.05).
- Weight onto the RIGHT foot:
Spine:[0,0,-10],Chest:[0,0,-8] (optional root.x:0.05).
Worked Actions
- "shift your weight onto your left leg" →
{"durationMs":500,"pose":{"Spine":[0,0,10],"Chest":[0,0,8]},"say":"Shifting over."}
- "balance on your right foot" → shift right, then lift the left knee (
move-leg):
{"durationMs":800,"pose":{"Spine":[0,0,-10],"Chest":[0,0,-8],"LeftUpLeg":[90,0,0],"LeftLeg":[90,0,0]},"say":"Balancing."}
Limits
Lateral lean stays within ~±12 for a weight shift (bigger is a move-torso lean).
Always keep the support foot grounded.
