jump-and-reach

name	jump-and-reach
description	Jumps straight up and reaches one hand high to touch something at the apex, then lands, via a sequence with a root.y arc. Use when a command mentions jump and reach, jump to touch, jump up high to grab, or reach up jumping. (For a plain jump up, use jump-up.)
category	locomotion
disable-model-invocation	true
subskills	["move-leg","move-arm","bend-knees"]

jump-and-reach

A vertical jump that throws one hand overhead to touch a high target at the top.

Composes: move-leg + move-arm + bend-knees

How

• Use a sequence with loop:false. Load, apex with one arm overhead (RightUpperArm Z 90), toes pointed, root.y~0.4, soft land.
• durationMs ~1000.

Example

• "jump up and reach" -> {"durationMs":1000,"say":"Reach!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[40,0,0],"LeftLeg":[60,0,0],"RightUpLeg":[40,0,0],"RightLeg":[60,0,0],"RightUpperArm":[0,0,-40]},"root":{"y":-0.2}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"LeftFoot":[55,0,0],"RightFoot":[55,0,0],"RightUpperArm":[0,0,90]},"root":{"y":0.4}},{"t":1,"pose":{"LeftUpLeg":[20,0,0],"LeftLeg":[30,0,0],"RightUpLeg":[20,0,0],"RightLeg":[30,0,0],"LeftFoot":[90,0,0],"RightFoot":[90,0,0],"RightUpperArm":[0,0,-90]},"root":{"y":0}}]}}

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.