skip

name	skip
description	Skips forward with a light, bouncy step-hop that translates the body via a sequence of root frames. Use when a command mentions skip, skipping, skip along, hop-skip, gambol, or move with a playful bouncy skip.
category	locomotion
disable-model-invocation	true
subskills	["walk","move-leg"]

skip

A playful step-then-hop that travels forward. The bounce needs root.y so this uses a sequence that translates root AND adds little hops; legs are keyed by hand (the procedural gait only runs during moveTo).

How

• Use a sequence with loop:false (frame root is ABSOLUTE, so increase z step by step; compute the forward axis from state.position+state.faceDeg, here origin facing +Z so z grows).
• Each hop: raise a knee (UpLeg:[70,0,0],Leg:[60,0,0]) and pop root.y up ~0.18, then land (legs to rest, root.y:0) while z keeps advancing. Alternate the lead knee.
• durationMs ~2400–2800.

Example

• "skip forward" (at x:0,z:0,faceDeg:0) -> {"durationMs":2600,"say":"Skip skip!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[70,0,0],"LeftLeg":[60,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0.18,"z":0.4}},{"t":0.25,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0]},"root":{"y":0,"z":0.8}},{"t":0.5,"pose":{"RightUpLeg":[70,0,0],"RightLeg":[60,0,0]},"root":{"y":0.18,"z":1.2}},{"t":0.75,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0,"z":1.6}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0,"z":2}}]}}