| name | beam-walk |
| description | Walks along a balance beam with the arms out wide and deliberate steps, eyes forward, TRANSLATING slowly via moveTo. Use when a command mentions balance beam, walk the beam, gymnastics beam walk, or balance along a beam. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["walk","balance-and-posture"] |
beam-walk
Deliberate balancing travel along a narrow beam, arms out, gaze level. Engine drives the steps.
Composes: walk + balance-and-posture
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: arms wide (T), chin level, feet slightly pointed.
- Slow
durationMs (~3400).
Example
- "walk the balance beam" ->
{"durationMs":3400,"moveTo":{"x":0,"z":2},"pose":{"LeftUpperArm":[0,0,0],"RightUpperArm":[0,0,0],"Neck":[-3,0,0],"LeftFoot":[85,0,0],"RightFoot":[85,0,0]},"say":"On the beam—steady."}
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.
