| name | lateral-skip |
| description | Skips sideways with a hop and a leading abducted leg, keeping facing, via a translating sequence. Use when a command mentions lateral skip, side skip, skip sideways, or skipping to the side. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","balance-and-posture"] |
lateral-skip
A sideways skip: hop while the lead leg swings out, feet meet, repeat. Translate root while OMITTING faceDeg so the heading holds.
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. Step x; do NOT set faceDeg.
- Lead leg out (
LeftUpLeg~50 abducted, Z 140) with a root.y~0.18 hop, then feet meet.
durationMs ~2200.
Example
- "skip sideways" ->
{"durationMs":2200,"say":"Sideways skip!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[50,0,140],"LeftLeg":[60,0,0]},"root":{"y":0.18,"x":-0.5}},{"t":0.33,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180]},"root":{"y":0,"x":-1}},{"t":0.66,"pose":{"LeftUpLeg":[50,0,140],"LeftLeg":[60,0,0]},"root":{"y":0.18,"x":-1.5}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180]},"root":{"y":0,"x":-2}}]}}
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.
