stomp-walk

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.