sashay

name	sashay
description	Sashays sideways with gliding chassé steps and a flourish, keeping facing, via a translating sequence. Use when a command mentions sashay, glide sideways gracefully, chassé, or sweep sideways with flair.
category	locomotion
disable-model-invocation	true
subskills	["walk","move-arm"]

sashay

Graceful sideways gliding steps (lead foot out, trail foot meets) with an arm flourish. Translate root while OMITTING faceDeg so the heading holds.

Composes: walk + move-arm

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 to the side; do NOT set faceDeg.
• Lead leg out (RightUpLeg Z toward -150), then feet meet; flourish the arms.
• durationMs ~2400.

Example

• "sashay across" -> {"durationMs":2400,"say":"Sashaying through.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpLeg":[0,0,-150],"LeftUpperArm":[0,0,30],"RightUpperArm":[0,0,-50]},"root":{"x":0.6}},{"t":0.5,"pose":{"RightUpLeg":[0,0,180],"LeftUpLeg":[0,0,180]},"root":{"x":1.2}},{"t":1,"pose":{"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90]},"root":{"x":1.8}}]}}

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.