skip-up-stairs

name	skip-up-stairs
description	Skips up the steps lightly with a little hop on each, via a sequence that raises root.y with hops. Use when a command mentions skip up the stairs, bound up the steps lightly, hop up the staircase, or spring up the stairs.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","balance-and-posture"]

skip-up-stairs

Light, springy stair climbing: a small hop with each high step as the body rises.

Composes: move-leg + balance-and-posture

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.
• Each step: high knee + a small root.y hop, then plant and rise; alternate legs.
• durationMs ~2600.

Example

• "skip up the stairs" -> {"durationMs":2600,"say":"Skipping up!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[80,0,0],"LeftLeg":[80,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0.1,"z":0}},{"t":0.33,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0]},"root":{"y":0.18,"z":0.3}},{"t":0.66,"pose":{"RightUpLeg":[80,0,0],"RightLeg":[80,0,0]},"root":{"y":0.46,"z":0.5}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0.54,"z":0.8}}]}}

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.