trot

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.