quad-pull-walk

name	quad-pull-walk
description	Walks while pulling each heel back to the glute in a quad stretch each step (walking quad stretch), via a translating sequence. Use when a command mentions quad pull walk, walking quad stretch, heel-to-butt walk, or pull your heel walking.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","move-arm"]

quad-pull-walk

A mobility walk: bend each knee fully and pull the heel to the seat with the hand, then step on.

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.
• Fully flex the knee (Leg~135) and curl that-side Forearm (~120) to grab the foot.
• durationMs ~2800.

Example

• "do walking quad stretches" -> {"durationMs":2800,"say":"Quad stretch walk.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftLeg":[135,0,0],"LeftForearm":[120,0,0]},"root":{"z":0.5}},{"t":0.5,"pose":{"LeftLeg":[0,0,0],"LeftForearm":[0,0,0],"RightLeg":[135,0,0],"RightForearm":[120,0,0]},"root":{"z":1}},{"t":1,"pose":{"RightLeg":[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.