crouch-walk

name	crouch-walk
description	Moves in a low crouched stance to a destination by TRANSLATING via moveTo with bent hips/knees and a forward torso while the engine drives the legs. Use when a command mentions crouch walk, crouch-walk, walk crouched, stay low, low walk, duck-walk, or move in a crouch.
category	locomotion
disable-model-invocation	true
subskills	["walk","bend-knees"]

crouch-walk

Travel while staying low to the ground — knees and hips bent, torso forward. Good for stealth or going under something.

How

• TRAVEL uses top-level moveTo (never in-place legs). Use a named target or a point ahead computed from state.position+state.faceDeg (0=+Z, 90=+X), d~1.5–2.5.
• Slow durationMs (~2800–3400).
• Base pose sets the low stance: partially flex the hips and knees (LeftUpLeg:[30,0,0], LeftLeg:[40,0,0], mirror Right) and lean the torso forward (Spine:[18,0,0]). The engine overlays the step swing.
• NOTE: moveTo does not lower root.y, so for a deep crouch first dip with a root:{y:-0.3} Action (see balance-and-posture), then crouch-walk; while traveling the stance is approximated by the bent legs.

Example

• "crouch-walk forward" (at x:0,z:0,faceDeg:0) -> {"durationMs":3000,"moveTo":{"x":0,"z":2},"pose":{"LeftUpLeg":[30,0,0],"LeftLeg":[40,0,0],"RightUpLeg":[30,0,0],"RightLeg":[40,0,0],"Spine":[18,0,0]},"say":"Staying low."}
• "stay low and move to the couch" -> {"durationMs":3200,"moveTo":{"target":"couch"},"pose":{"LeftUpLeg":[30,0,0],"LeftLeg":[40,0,0],"RightUpLeg":[30,0,0],"RightLeg":[40,0,0],"Spine":[18,0,0]},"say":"Keeping my head down."}