| name | sumo-walk |
| description | Walks in a deep wide sumo stance with hands on the thighs, lumbering side to side, via a translating sequence. Use when a command mentions sumo walk, sumo stomp, wide squat walk, or walk like a sumo wrestler. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","bend-knees","move-torso","balance-and-posture"] |
sumo-walk
A very wide, deep stance (root.y~-0.35) lumbering forward with a heavy side-to-side sway, hands on the thighs.
Composes: move-leg + bend-knees + move-torso + 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.
- Stay deep and wide (hips abducted ~140, knees
80, root.y-0.35); sway the torso side to side.
durationMs ~2800.
Example
- "sumo walk forward" ->
{"durationMs":2800,"say":"Sumo walk!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[50,0,140],"RightUpLeg":[50,0,-140],"LeftLeg":[80,0,0],"RightLeg":[80,0,0],"Spine":[20,0,12],"LeftUpperArm":[40,0,60],"RightUpperArm":[40,0,-60]},"root":{"y":-0.35,"z":0.4}},{"t":0.5,"pose":{"Spine":[20,0,-12]},"root":{"y":-0.35,"z":0.9}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightLeg":[0,0,0],"Spine":[0,0,0],"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90]},"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.
