| name | crab-walk |
| description | Walks on hands and feet while belly-up via a low sequence that drops root.y and translates root, arms reaching behind. Use when a command mentions crab walk, crab-walk, walk like a crab, reverse tabletop walk, or belly-up crawl. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","move-arm","bend-knees"] |
crab-walk
Move belly-up on hands and feet, face to the ceiling — the crab walk. A sequence with a root.y drop and forward translation, arms supporting BEHIND the torso.
How
- Use a
sequence with loop:false (frame root is ABSOLUTE — translate z; compute forward from state.position+state.faceDeg, here origin facing +Z). Keep root.y ~-0.4.
- Belly-up pose: arms reaching back to support (
LeftUpperArm:[-90,0,0],RightUpperArm:[-90,0,0]), head tipped back (Head:[-20,0,0]), feet planted in front with bent knees (UpLeg:[70,0,0],Leg:[90,0,0] both). Alternate the leading hip.
durationMs ~2400–2800.
Example
- "crab walk" (at x:0,z:0,faceDeg:0) ->
{"durationMs":2600,"say":"Crab walk!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpperArm":[-90,0,0],"RightUpperArm":[-90,0,0],"Head":[-20,0,0],"LeftUpLeg":[70,0,0],"LeftLeg":[90,0,0],"RightUpLeg":[70,0,0],"RightLeg":[90,0,0]},"root":{"y":-0.4,"z":0}},{"t":0.5,"pose":{"LeftUpLeg":[55,0,0],"RightUpLeg":[85,0,0]},"root":{"y":-0.4,"z":0.5}},{"t":1,"pose":{"LeftUpLeg":[70,0,0],"RightUpLeg":[70,0,0]},"root":{"y":-0.4,"z":1}}]}}
