| name | y-balance |
| description | Holds a single-leg Y-balance reach, hinging forward with the hands reaching ahead and one leg extended back. Use when a command mentions Y balance, single-leg reach, balance reach test, or reach forward on one leg. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-torso","move-leg","balance-and-posture"] |
y-balance
Balance on one leg, hinge the torso forward, reach both hands ahead while the free leg extends back.
Composes: move-torso + move-leg + balance-and-posture
How
- Static
pose. Hinge Spine+X35, free leg back (UpLeg-35), arms forward (UpperArm X~120); support knee soft.
- Hold ~1500 ms; counterbalance over the support foot.
Example
- "do a Y balance reach" ->
{"durationMs":1500,"pose":{"Spine":[35,0,0],"LeftUpLeg":[-35,0,0],"LeftLeg":[10,0,0],"LeftFoot":[70,0,0],"RightLeg":[10,0,0],"LeftUpperArm":[120,0,90],"RightUpperArm":[120,0,-90]},"say":"Reach and balance."}
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.