| name | step-down |
| description | Steps down off a raised surface via a short sequence that reaches a foot out and lowers root.y as the other foot follows. Use when a command mentions step down, step off, get down off, step off the curb/box, or come down a step. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","shift-weight"] |
step-down
Step down off something one level lower — lead foot reaches down, body lowers, trail foot follows. A short sequence that DROPS root.y and nudges root.z forward.
How
- Use a
sequence with loop:false (frame root is ABSOLUTE — small z forward, y down; compute forward from state.position+state.faceDeg, here origin facing +Z).
- Beats: reach the lead foot out and down (
RightUpLeg:[40,0,0],RightLeg:[20,0,0]), settle onto it (lead leg to rest, root.y:-0.2, z forward), bring the trail foot down (other leg to rest).
durationMs ~1000–1300.
Example
- "step down off the box" (at x:0,z:0,faceDeg:0) ->
{"durationMs":1200,"say":"Step down.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpLeg":[40,0,0],"RightLeg":[20,0,0]},"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}}]}}
