| name | crossover-step |
| description | Takes a quick crossover step, crossing one leg over to change running direction, via a short translating sequence. Use when a command mentions crossover step, cross-step, crossover to change direction, or plant and cross over. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","move-torso","walk"] |
crossover-step
Cross one leg over the other and push, redirecting laterally with a torso turn.
Composes: move-leg + move-torso + walk
How
- Use a
sequence with loop:false. Frame root is ABSOLUTE; compute the travel axis from state.position+state.faceDeg (0=+Z, 90=+X). The example assumes origin facing +Z.
- Crossing leg lifts and flexes (
UpLeg50) with a torso twist (Spine Y20); travel x.
durationMs ~1200.
Example
- "crossover step" ->
{"durationMs":1200,"say":"Crossover!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpLeg":[50,0,0],"RightLeg":[40,0,0],"Spine":[0,20,0]},"root":{"x":0.4}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"Spine":[0,0,0]},"root":{"x":0.9}}]}}
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.
