| name | advance-cautiously |
| description | Advances forward slowly and cautiously, low and watchful, TRANSLATING via moveTo. Use when a command mentions advance cautiously, move up carefully, edge forward, proceed warily, or approach with care (no specific target). |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["walk","bend-knees"] |
advance-cautiously
A slow, careful forward advance — knees soft, head up. Engine drives the legs.
Composes: walk + bend-knees
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. Short distance, slow.
- Base
pose: slight crouch (Spine+X, knees bent), head up watching.
- Slow
durationMs (~3200).
Example
- "advance cautiously" ->
{"durationMs":3200,"moveTo":{"x":0,"z":1.8},"pose":{"Spine":[12,0,0],"LeftLeg":[18,0,0],"RightLeg":[18,0,0],"Neck":[-8,0,0]},"say":"Moving up, carefully."}
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.
