crossover-step

name	crossover-step
description	Takes a quick crossover step, crossing one leg over to change running direction, via a short translating sequence. Use when a command mentions crossover step, cross-step, crossover to change direction, or plant and cross over.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","move-torso","walk"]

crossover-step

Cross one leg over the other and push, redirecting laterally with a torso turn.

Composes: move-leg + move-torso + walk

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.
• Crossing leg lifts and flexes (UpLeg50) with a torso twist (Spine Y20); travel x.
• durationMs ~1200.

Example

• "crossover step" -> {"durationMs":1200,"say":"Crossover!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpLeg":[50,0,0],"RightLeg":[40,0,0],"Spine":[0,20,0]},"root":{"x":0.4}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"Spine":[0,0,0]},"root":{"x":0.9}}]}}

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.