waddle

name	waddle
description	Waddles a short distance to a destination by TRANSLATING via moveTo with the legs splayed out and arms held out, like a penguin or duck. Use when a command mentions waddle, penguin walk, duck walk, side-to-side walk, or walk like a penguin/duck.
category	locomotion
disable-model-invocation	true
subskills	["walk","move-torso"]

waddle

A short-stepped, side-to-side toddle with the legs turned out and stubby arms — penguin style. Travel a short distance.

How

• TRAVEL uses top-level moveTo (never in-place legs). Use a named target or a short point ahead from state.position+state.faceDeg (0=+Z, 90=+X), small d~1.2–1.8.
• durationMs ~2800–3400.
• Base pose splays the stance and arms: legs abducted out (LeftUpLeg:[0,0,160], RightUpLeg:[0,0,-160]) and arms held a little away from the body (LeftUpperArm:[0,0,70], RightUpperArm:[0,0,-70]). The engine overlays small steps; the listed values keep the penguin splay.

Example

• "waddle like a penguin" (at x:0,z:0,faceDeg:0) -> {"durationMs":3000,"moveTo":{"x":0,"z":1.6},"pose":{"LeftUpLeg":[0,0,160],"RightUpLeg":[0,0,-160],"LeftUpperArm":[0,0,70],"RightUpperArm":[0,0,-70]},"say":"Waddle waddle."}
• "duck walk to the fridge" -> {"durationMs":3200,"moveTo":{"target":"fridge"},"pose":{"LeftUpLeg":[0,0,160],"RightUpLeg":[0,0,-160]},"say":"Quack."}