high-knee-run

name	high-knee-run
description	Runs forward driving the knees up high to waist level, via a translating sequence. Use when a command mentions high knee run, high-knees while moving, knee drive run, or run lifting your knees high. (For high knees in place, use high-knees.)
category	locomotion
disable-model-invocation	true
subskills	["move-leg","move-arm"]

high-knee-run

A traveling high-knee drill: drive each knee to waist height while moving forward, arms pumping.

Composes: move-leg + 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.
• Alternate very high knees (UpLeg~110,Leg~90); arms bent and pumping.
• durationMs ~2200.

Example

• "high knee run forward" -> {"durationMs":2200,"say":"Knees up, drive!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[110,0,0],"LeftLeg":[90,0,0],"RightForearm":[0,0,90],"LeftForearm":[0,0,-90]},"root":{"z":0.6}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[110,0,0],"RightLeg":[90,0,0]},"root":{"z":1.2}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"z":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.