| name | goose-step |
| description | Performs a stiff straight-legged goose-step parade march via a translating sequence that swings each straight leg high. Use when a command mentions goose-step, goose step, stiff-legged march, straight-leg march, or high stiff parade march. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","move-torso"] |
goose-step
The iconic stiff parade march: each leg kicks UP straight (knee stays locked) as the body advances.
Composes: move-leg + move-torso
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.
- Each step: swing one leg up with the knee LOCKED (
UpLeg~75, Leg:0); keep the chest tall.
durationMs ~2600.
Example
- "goose step forward" ->
{"durationMs":2600,"say":"Stiff and high!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[75,0,0],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"Chest":[-5,0,0]},"root":{"z":0.6}},{"t":0.5,"pose":{"RightUpLeg":[75,0,0],"RightLeg":[0,0,0],"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"Chest":[-5,0,0]},"root":{"z":1.3}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightLeg":[0,0,0],"Chest":[0,0,0]},"root":{"z":2}}]}}
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.
