| name | quad-pull-walk |
| description | Walks while pulling each heel back to the glute in a quad stretch each step (walking quad stretch), via a translating sequence. Use when a command mentions quad pull walk, walking quad stretch, heel-to-butt walk, or pull your heel walking. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","move-arm"] |
quad-pull-walk
A mobility walk: bend each knee fully and pull the heel to the seat with the hand, then step on.
Composes: move-leg + move-arm
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.
- Fully flex the knee (
Leg~135) and curl that-side Forearm (~120) to grab the foot.
durationMs ~2800.
Example
- "do walking quad stretches" ->
{"durationMs":2800,"say":"Quad stretch walk.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftLeg":[135,0,0],"LeftForearm":[120,0,0]},"root":{"z":0.5}},{"t":0.5,"pose":{"LeftLeg":[0,0,0],"LeftForearm":[0,0,0],"RightLeg":[135,0,0],"RightForearm":[120,0,0]},"root":{"z":1}},{"t":1,"pose":{"RightLeg":[0,0,0],"RightForearm":[0,0,0]},"root":{"z":1.5}}]}}
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.
