jump-over

name	jump-over
description	Jumps forward over an obstacle via a sequence that arcs root.y up, tucks the knees high to clear, translates forward, and lands. Use when a command mentions jump over, hurdle, clear an obstacle, leap over, hop over something, or vault a low barrier.
category	locomotion
disable-model-invocation	true
subskills	["bend-knees","move-leg","walk"]

jump-over

Clear something in front by jumping up-and-over — knees snap up high at the apex to clear the obstacle, then land beyond it. A root.y arc plus a forward root.z step, with a high knee tuck mid-air.

How

• Use a sequence with loop:false (frame root is ABSOLUTE — z grows past the obstacle; compute forward from state.position+state.faceDeg, here origin facing +Z).
• Beats: approach crouch (root.y:-0.15), apex with knees tucked HIGH to clear (LeftUpLeg:[100,0,0],LeftLeg:[100,0,0], mirror Right, root.y:~0.5, z over), land beyond (root.y:0, legs to rest).
• durationMs ~1000–1300.

Example

• "jump over the box" (at x:0,z:0,faceDeg:0) -> {"durationMs":1100,"say":"Hup!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[40,0,0],"LeftLeg":[60,0,0],"RightUpLeg":[40,0,0],"RightLeg":[60,0,0]},"root":{"y":-0.15,"z":0}},{"t":0.4,"pose":{"LeftUpLeg":[100,0,0],"LeftLeg":[100,0,0],"RightUpLeg":[100,0,0],"RightLeg":[100,0,0]},"root":{"y":0.5,"z":1}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0,"z":2}}]}}