saunter

name	saunter
description	Saunters along confidently and casually with an easy relaxed gait, TRANSLATING via moveTo. Use when a command mentions saunter, stroll confidently, walk casually, breeze along, or an easy confident walk.
category	locomotion
disable-model-invocation	true
subskills	["walk"]

saunter

A confident, breezy walk with an easy carriage. Engine drives the legs; a relaxed chest sells the attitude.

Composes: walk

How

• TRAVEL uses top-level moveTo (never an in-place leg cycle): a named target from state.locations, or a point ahead computed from state.position+state.faceDeg. Mid distance.
• Base pose: slightly open chest (Chest-X), arms relaxed and a touch out.
• durationMs ~2800.

Example

• "saunter over" -> {"durationMs":2800,"moveTo":{"x":0,"z":2.4},"pose":{"Chest":[-3,0,0],"LeftUpperArm":[0,0,80],"RightUpperArm":[0,0,-80]},"say":"No rush at all."}

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.