| name | power-skip |
| description | Performs explosive power skips for height and distance, driving one knee high with a big arm swing and a hop, via a translating sequence. Use when a command mentions power skip, high skip, explosive skip, or skip for height. (For a playful skip, use skip.) |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","move-arm","balance-and-posture"] |
power-skip
A big, athletic skip: drive the lead knee high with a strong opposite-arm swing and a tall hop, alternating.
Composes: move-leg + move-arm + balance-and-posture
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 a very high knee drive (
UpLeg~115) with a root.y~0.25 hop and a big opposite-arm swing.
durationMs ~2200.
Example
- "do power skips" ->
{"durationMs":2200,"say":"Power skip!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[115,0,0],"LeftLeg":[90,0,0],"RightUpperArm":[0,0,-30],"LeftUpperArm":[0,0,40]},"root":{"y":0.25,"z":0.5}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[115,0,0],"RightLeg":[90,0,0],"LeftUpperArm":[0,0,-30],"RightUpperArm":[0,0,30]},"root":{"y":0.25,"z":1.2}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90]},"root":{"y":0,"z":1.9}}]}}
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.
