side-lunge

name	side-lunge
description	Drops into a lateral (side) lunge with a wide stance, bending one knee out to the side while the other leg stays straight. Use when the command mentions side lunge, lateral lunge, cossack squat, or side-to-side lunge.
category	exercise
disable-model-invocation	true
subskills	["move-leg","shift-weight","balance-and-posture"]

Side Lunge

A lateral lunge: both legs spread wide, one knee bends out to that side while the opposite leg stays straight, and the torso leans over the bent leg.

How

• Bent side (Right): abduct + flex RightUpLeg:[20,0,-150] (Z negative = leg out to the right), knee RightLeg:[60,0,0].
• Straight side (Left): abduct out LeftUpLeg:[0,0,150] (Z toward 90 = out left), knee straight LeftLeg:[0,0,0].
• Lean toward the bent side Spine:[0,0,-15] (Z negative = lean right) and drop root.y:-0.25. Mirror the signs for the other side.

Example

• "do a side lunge" -> {"durationMs":1200,"say":"Side lunge.","pose":{"RightUpLeg":[20,0,-150],"RightLeg":[60,0,0],"LeftUpLeg":[0,0,150],"LeftLeg":[0,0,0],"Spine":[0,0,-15]},"root":{"y":-0.25}}