| name | limbo-walk |
| description | Leans far back and shuffles forward under a low limbo bar, then straightens, via a translating sequence. Use when a command mentions limbo, limbo walk, lean back and go under, or how low can you go. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-torso","bend-knees","balance-and-posture"] |
limbo-walk
Bend the spine WAY back, knees bent, shuffle forward under the bar, then come up.
Composes: move-torso + bend-knees + balance-and-posture
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.
- Big backward torso lean (
Spine-X45,Chest-X20), knees bent, root.y~-0.3; advance z; then straighten.
durationMs ~2400.
Example
- "do the limbo" ->
{"durationMs":2400,"say":"How low can I go?","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[-45,0,0],"Chest":[-20,0,0],"LeftUpLeg":[50,0,0],"LeftLeg":[80,0,0],"RightUpLeg":[50,0,0],"RightLeg":[80,0,0]},"root":{"y":-0.3,"z":0.4}},{"t":0.5,"pose":{"Spine":[-45,0,0],"Chest":[-20,0,0]},"root":{"y":-0.3,"z":0.9}},{"t":1,"pose":{"Spine":[0,0,0],"Chest":[0,0,0],"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0,"z":1.4}}]}}
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.
