| name | run-in-place |
| description | Runs on the spot without traveling via a looping sequence of fast alternating high knees and pumping arms (no moveTo). Use when a command mentions run in place, run on the spot, running on the spot, run without moving, or jog hard in place. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","move-arm"] |
run-in-place
A fast running cadence that goes nowhere. Because it must stay put, this is a looping sequence of alternating leg lifts (NO moveTo, NO root translation).
How
- Use a
sequence with loop:true. Alternate one knee up at a time (UpLeg:[80,0,0],Leg:[95,0,0]) while the other returns to rest (UpLeg:[0,0,180],Leg:[0,0,0]).
- Add a running arm pump with bent elbows (
RightForearm:[0,0,90], LeftForearm:[0,0,-90]).
- Keep cycles snappy:
durationMs ~600–800. Do NOT add moveTo (that would actually travel).
Example
- "run in place" ->
{"durationMs":700,"say":"And... go!","sequence":{"loop":true,"frames":[{"t":0,"pose":{"LeftUpLeg":[80,0,0],"LeftLeg":[95,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"RightForearm":[0,0,90],"LeftForearm":[0,0,-90]}},{"t":0.5,"pose":{"RightUpLeg":[80,0,0],"RightLeg":[95,0,0],"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightForearm":[0,0,90],"LeftForearm":[0,0,-90]}},{"t":1,"pose":{"LeftUpLeg":[80,0,0],"LeftLeg":[95,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]}}]}}
