step-over

name	step-over
description	Steps over a low obstacle via a sequence that lifts each leg high in turn and translates the body forward across it. Use when a command mentions step over, step across, climb over, get over a low obstacle, or high-step over something on the floor.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","walk"]

step-over

Cross a low obstacle by lifting one leg high over it, planting beyond, then bringing the other leg over. A sequence that translates root.z forward with two high leg lifts (no jump needed).

How

• Use a sequence with loop:false (frame root is ABSOLUTE — z grows; compute forward from state.position+state.faceDeg, here origin facing +Z).
• Beats: lift the lead leg high to clear (RightUpLeg:[100,0,0],RightLeg:[40,0,0]), plant beyond and lift the other leg over (LeftUpLeg:[100,0,0],LeftLeg:[40,0,0]), settle with both legs to rest.
• durationMs ~1400–1800.

Example

• "step over the obstacle" (at x:0,z:0,faceDeg:0) -> {"durationMs":1600,"say":"Stepping over.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpLeg":[100,0,0],"RightLeg":[40,0,0],"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0]},"root":{"z":0}},{"t":0.5,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"LeftUpLeg":[100,0,0],"LeftLeg":[40,0,0]},"root":{"z":0.5}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"z":1}}]}}