box-step

name	box-step
description	Performs a basic box-step footwork pattern in place, tracing a square with the feet, via a looping sequence. Use when a command mentions box step, box-step footwork, square step, or step in a box pattern.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","walk"]

box-step

Step forward, side, back, side — tracing a small square. A looping sequence whose root returns to the start each cycle.

Composes: move-leg + walk

How

• Use a sequence with loop:true; plan the root x/z so the last frame lands back at the start.
• Light steps (knee lifts) on the forward/back beats.
• durationMs ~3200.

Example

• "do a box step" -> {"durationMs":3200,"say":"Box step.","sequence":{"loop":true,"frames":[{"t":0,"pose":{"LeftUpLeg":[35,0,0],"LeftLeg":[25,0,0]},"root":{"x":0,"z":0.3}},{"t":0.25,"pose":{"RightUpLeg":[0,0,-150]},"root":{"x":0.3,"z":0.3}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0]},"root":{"x":0.3,"z":0}},{"t":0.75,"pose":{"RightUpLeg":[0,0,180]},"root":{"x":0,"z":0}},{"t":1,"pose":{"LeftUpLeg":[35,0,0],"LeftLeg":[25,0,0]},"root":{"x":0,"z":0.3}}]}}

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.