| name | side-gallop |
| description | Gallops sideways (a galloping chassé) leading with the same leg, keeping facing, via a translating sequence. Use when a command mentions side gallop, sideways gallop, galloping chassé, or bound sideways. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","balance-and-posture"] |
side-gallop
A bouncy sideways gallop: lead leg out, trail catches up, with a little air. Translate root while OMITTING faceDeg so the heading holds.
Composes: move-leg + 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. Step x sideways; do NOT set faceDeg.
- Same lead leg abducts out (
LeftUpLeg Z 150); pop root.y~0.1.
durationMs ~2400.
Example
- "side gallop" ->
{"durationMs":2400,"say":"Side gallop!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[0,0,150]},"root":{"y":0.1,"x":-0.5}},{"t":0.33,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180]},"root":{"y":0,"x":-1}},{"t":0.66,"pose":{"LeftUpLeg":[0,0,150]},"root":{"y":0.1,"x":-1.5}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180]},"root":{"y":0,"x":-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.
