| name | sprint-stop |
| description | Decelerates hard from a sprint to a controlled stop, leaning back and planting, via a translating sequence. Use when a command mentions sprint stop, skid to a stop, decelerate, slam on the brakes, or come to a hard stop running. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["walk","move-torso","balance-and-posture"] |
sprint-stop
Gather the stride, lean back to brake, and plant onto a stiff lead leg to stop.
Composes: walk + move-torso + 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.
- Beats: still moving with a slight lean, brake (torso back, lead heel down
Foot~110, knee bends), settle upright as z stalls.
durationMs ~1200.
Example
- "sprint to a stop" ->
{"durationMs":1200,"say":"And... stop!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[12,0,0],"RightUpLeg":[45,0,0],"RightLeg":[40,0,0]},"root":{"z":0.6}},{"t":0.5,"pose":{"Spine":[-12,0,0],"RightUpLeg":[55,0,0],"RightLeg":[80,0,0],"RightFoot":[110,0,0],"LeftUpLeg":[-15,0,0]},"root":{"z":1}},{"t":1,"pose":{"Spine":[0,0,0],"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"RightFoot":[90,0,0]},"root":{"z":1.1}}]}}
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.
