frankenstein-walk

name	frankenstein-walk
description	Walks with straight-leg kicks up toward the opposite outstretched hand (Frankenstein march / toy-soldier walk), via a translating sequence. Use when a command mentions Frankenstein walk, toy soldier walk, straight-leg kick walk, or walking toe-touch march.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","move-arm"]

frankenstein-walk

A dynamic warm-up: kick each straight leg up toward the opposite forward hand, advancing each step.

Composes: move-leg + move-arm

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.
• Straight kicking leg (UpLeg:[90,0,0],Leg:0) meeting the opposite arm (UpperArm X 90).
• durationMs ~2600.

Example

• "do a frankenstein walk" -> {"durationMs":2600,"say":"Straight-leg kicks!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[90,0,0],"LeftLeg":[0,0,0],"RightUpperArm":[90,0,0]},"root":{"z":0.5}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[90,0,0],"RightLeg":[0,0,0],"LeftUpperArm":[90,0,0],"RightUpperArm":[0,0,-90]},"root":{"z":1.2}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"LeftUpperArm":[0,0,90]},"root":{"z":1.8}}]}}

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.