step-down

name	step-down
description	Steps down off a raised surface via a short sequence that reaches a foot out and lowers root.y as the other foot follows. Use when a command mentions step down, step off, get down off, step off the curb/box, or come down a step.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","shift-weight"]

step-down

Step down off something one level lower — lead foot reaches down, body lowers, trail foot follows. A short sequence that DROPS root.y and nudges root.z forward.

How

• Use a sequence with loop:false (frame root is ABSOLUTE — small z forward, y down; compute forward from state.position+state.faceDeg, here origin facing +Z).
• Beats: reach the lead foot out and down (RightUpLeg:[40,0,0],RightLeg:[20,0,0]), settle onto it (lead leg to rest, root.y:-0.2, z forward), bring the trail foot down (other leg to rest).
• durationMs ~1000–1300.

Example

• "step down off the box" (at x:0,z:0,faceDeg:0) -> {"durationMs":1200,"say":"Step down.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"RightUpLeg":[40,0,0],"RightLeg":[20,0,0]},"root":{"y":0,"z":0}},{"t":0.5,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":-0.2,"z":0.3}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0]},"root":{"y":-0.2,"z":0.4}}]}}