crawl-forward

name	crawl-forward
description	Crawls forward on hands and knees via a low sequence that drops root.y and translates root forward while the limbs reach. Use when a command mentions crawl, crawl forward, on hands and knees, on all fours, baby crawl, or move along the floor on your knees.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","move-arm","move-torso"]

crawl-forward

Move along the floor on hands and knees. The body must drop low, so this is a sequence that lowers root.y and translates root forward with an all-fours pose.

How

• Use a sequence with loop:false (frame root is ABSOLUTE — z grows; compute forward from state.position+state.faceDeg, here origin facing +Z). Keep root.y low (~-0.5) the whole time.
• All-fours pose: bend the torso forward (Spine:[35,0,0],Chest:[20,0,0]), reach both arms to the floor (LeftUpperArm:[90,0,0],RightUpperArm:[90,0,0]), and tuck the knees under (UpLeg:[80,0,0],Leg:[90,0,0] both). Alternate the reaching arm slightly for life.
• durationMs ~2400–2800.

Example

• "crawl forward" (at x:0,z:0,faceDeg:0) -> {"durationMs":2600,"say":"Crawling.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[35,0,0],"Chest":[20,0,0],"LeftUpperArm":[90,0,0],"RightUpperArm":[90,0,0],"LeftUpLeg":[80,0,0],"LeftLeg":[90,0,0],"RightUpLeg":[80,0,0],"RightLeg":[90,0,0]},"root":{"y":-0.5,"z":0}},{"t":0.5,"pose":{"LeftUpperArm":[70,0,0],"RightUpperArm":[100,0,0]},"root":{"y":-0.5,"z":0.6}},{"t":1,"pose":{"LeftUpperArm":[90,0,0],"RightUpperArm":[90,0,0]},"root":{"y":-0.5,"z":1.2}}]}}