lope

name	lope
description	Lopes forward in a relaxed, long-strided easy run, TRANSLATING via moveTo while the engine drives a loose stride. Use when a command mentions lope, loping, easy run, relaxed jog, or run loose and long.
category	locomotion
disable-model-invocation	true
subskills	["walk","balance-and-posture"]

lope

A loose, economical run — long relaxed strides. Engine drives the legs; you add a slight lean.

Composes: walk + balance-and-posture

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. Far point (d~3).
• Base pose: slight forward lean and loosely bent arms.
• durationMs ~2000.

Example

• "lope across the room" -> {"durationMs":2000,"moveTo":{"x":0,"z":3},"pose":{"Spine":[8,0,0],"RightForearm":[0,0,70],"LeftForearm":[0,0,-70]},"say":"Loping along."}

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.