| name | trot |
| description | Trots forward at a light, easy jog between a walk and a run, TRANSLATING via moveTo. Use when a command mentions trot, trotting, light jog, easy run, or jog gently. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["walk","move-arm"] |
trot
A light, springy jog. Engine drives the legs; a slight lean and loosely bent arms keep it easy.
Composes: walk + move-arm
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. Mid distance (d~2.8).
- Base
pose: small forward lean, lightly bent arms.
durationMs ~2100.
Example
- "trot forward" ->
{"durationMs":2100,"moveTo":{"x":0,"z":2.8},"pose":{"Spine":[8,0,0],"RightForearm":[0,0,80],"LeftForearm":[0,0,-80]},"say":"Trotting 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.