| name | high-knee-run |
| description | Runs forward driving the knees up high to waist level, via a translating sequence. Use when a command mentions high knee run, high-knees while moving, knee drive run, or run lifting your knees high. (For high knees in place, use high-knees.) |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","move-arm"] |
high-knee-run
A traveling high-knee drill: drive each knee to waist height while moving forward, arms pumping.
Composes: move-leg + move-arm
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.
- Alternate very high knees (
UpLeg~110,Leg~90); arms bent and pumping.
durationMs ~2200.
Example
- "high knee run forward" ->
{"durationMs":2200,"say":"Knees up, drive!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[110,0,0],"LeftLeg":[90,0,0],"RightForearm":[0,0,90],"LeftForearm":[0,0,-90]},"root":{"z":0.6}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[110,0,0],"RightLeg":[90,0,0]},"root":{"z":1.2}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"z":1.8}}]}}
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.
