| name | stomp-walk |
| description | Walks forward stomping heavily, lifting each knee and slamming the foot down, via a translating sequence. Use when a command mentions stomp walk, stomp forward, stomp around, heavy stomping steps, or walk like a giant. (For stomping in place, use stomp.) |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","balance-and-posture"] |
stomp-walk
A heavy travel: lift a knee, slam the foot, advance — the opposite of quiet. The slam reads via a small root.y dip.
Composes: move-leg + balance-and-posture
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.
- Each step: raise a knee (
UpLeg~70,Leg~80, small root.y pop), then plant (legs to rest) with a torso jolt.
durationMs ~2600.
Example
- "stomp forward" ->
{"durationMs":2600,"say":"STOMP! STOMP!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[70,0,0],"LeftLeg":[80,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0.06,"z":0.4}},{"t":0.25,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"Spine":[6,0,0]},"root":{"y":0,"z":0.6}},{"t":0.5,"pose":{"RightUpLeg":[70,0,0],"RightLeg":[80,0,0]},"root":{"y":0.06,"z":1}},{"t":0.75,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"Spine":[6,0,0]},"root":{"y":0,"z":1.2}},{"t":1,"pose":{"Spine":[0,0,0]},"root":{"y":0,"z":1.6}}]}}
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.
