| name | knee-hug-walk |
| description | Walks while pulling each knee up to the chest in a hug each step (walking knee hugs), via a translating sequence. Use when a command mentions knee hug walk, walking knee hugs, pull knee to chest while walking, or knee-to-chest march. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","move-arm"] |
knee-hug-walk
A mobility walk: lift each knee high and hug it to the chest, then step forward.
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.
- High knee (
UpLeg~115,Leg~110) with the arms wrapping (UpperArm forward, Forearm curled).
durationMs ~2800.
Example
- "do walking knee hugs" ->
{"durationMs":2800,"say":"Knee hugs, walking.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[115,0,0],"LeftLeg":[110,0,0],"LeftUpperArm":[40,0,90],"RightUpperArm":[40,0,-90],"LeftForearm":[130,0,0],"RightForearm":[130,0,0]},"root":{"z":0.5}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[115,0,0],"RightLeg":[110,0,0]},"root":{"z":1}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90],"LeftForearm":[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.
