| name | lope |
| description | Lopes forward in a relaxed, long-strided easy run, TRANSLATING via moveTo while the engine drives a loose stride. Use when a command mentions lope, loping, easy run, relaxed jog, or run loose and long. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["walk","balance-and-posture"] |
lope
A loose, economical run — long relaxed strides. Engine drives the legs; you add a slight lean.
Composes: walk + balance-and-posture
How
- TRAVEL uses top-level
moveTo (never an in-place leg cycle): a named target from state.locations, or a point ahead computed from state.position+state.faceDeg. Far point (d~3).
- Base
pose: slight forward lean and loosely bent arms.
durationMs ~2000.
Example
- "lope across the room" ->
{"durationMs":2000,"moveTo":{"x":0,"z":3},"pose":{"Spine":[8,0,0],"RightForearm":[0,0,70],"LeftForearm":[0,0,-70]},"say":"Loping along."}
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.