| name | step-up |
| description | Steps up onto a raised surface via a short sequence that lifts a knee, plants the foot, and raises root.y as the other foot follows. Use when a command mentions step up, step onto, climb onto, get up onto, step up on the curb/box, or mount a step. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","shift-weight"] |
step-up
Step up onto something one level higher — lead foot up, plant, rise, trail foot follows. A short sequence that raises root.y and nudges root.z forward.
How
- Use a
sequence with loop:false (frame root is ABSOLUTE — small z forward, y up; compute forward from state.position+state.faceDeg, here origin facing +Z).
- Beats: lift the lead knee high (
RightUpLeg:[80,0,0],RightLeg:[80,0,0]), plant and rise (lead leg to rest, root.y:0.2, z forward), bring the trail foot up (other leg to rest).
durationMs ~1000–1300.
Example
- "step up onto the box" (at x:0,z:0,faceDeg:0) ->
{"durationMs":1200,"say":"Step up.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpLeg":[80,0,0],"RightLeg":[80,0,0]},"root":{"y":0,"z":0}},{"t":0.5,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0.2,"z":0.3}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0]},"root":{"y":0.2,"z":0.4}}]}}
