step-up

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}}]}}