inchworm

name	inchworm
description	Performs the inchworm, folding to the floor and walking the hands out to a plank then back up to stand. Use when the command mentions inchworm, inch worm, or walk-out to plank.
category	exercise
disable-model-invocation	true
subskills	["move-torso","move-arm","balance-and-posture"]

inchworm

From standing, hinge down and "walk" the hands forward into a long plank, then walk them back and roll up to stand. A non-looping sequence using a forward hinge plus root.y dips.

How

• Fold down: Spine:[85,0,0], hands reach to floor *UpperArm:[150,0,0].
• Walk out to plank: Spine:[80,0,0], hands further (*UpperArm:[120,0,0]), on toes (*Foot:[60,0,0]), root.y:-0.12.
• Walk back and rise to rest.

Example

• "do an inchworm" -> {"durationMs":3600,"say":"Walk it out.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180]}},{"t":0.2,"pose":{"Spine":[85,0,0],"Chest":[10,0,0],"LeftUpperArm":[150,0,0],"RightUpperArm":[150,0,0]},"root":{"y":-0.05}},{"t":0.5,"pose":{"Spine":[80,0,0],"LeftUpperArm":[120,0,0],"RightUpperArm":[120,0,0],"LeftFoot":[60,0,0],"RightFoot":[60,0,0]},"root":{"y":-0.12}},{"t":0.8,"pose":{"Spine":[85,0,0],"LeftUpperArm":[150,0,0],"RightUpperArm":[150,0,0],"LeftFoot":[90,0,0],"RightFoot":[90,0,0]},"root":{"y":-0.05}},{"t":1,"pose":{"Spine":[0,0,0],"Chest":[0,0,0],"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90]},"root":{"y":0}}]}}