bear-crawl-backward

name	bear-crawl-backward
description	Bear-crawls backward on hands and feet with the knees off the floor, keeping facing, via a low translating sequence. Use when a command mentions bear crawl backward, reverse bear crawl, crawl backward on hands and feet, or bear crawl in reverse.
category	locomotion
disable-model-invocation	true
subskills	["move-arm","move-leg","move-torso"]

bear-crawl-backward

A flat-back bear crawl moving backward (opposite hand/foot), knees hovering. Translate root while OMITTING faceDeg so the heading holds.

Composes: move-arm + move-leg + move-torso

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. Make z more negative; do NOT set faceDeg. Keep root.y~-0.45.
• Torso forward (Spine+X~55); drive opposite hand and foot back together.
• durationMs ~2600.

Example

• "bear crawl backward" -> {"durationMs":2600,"say":"Bear crawl, reverse.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[55,0,0],"LeftUpperArm":[130,0,90],"RightUpLeg":[60,0,0],"RightLeg":[80,0,0]},"root":{"y":-0.45,"z":-0.4}},{"t":0.5,"pose":{"RightUpperArm":[130,0,-90],"LeftUpLeg":[60,0,0],"LeftLeg":[80,0,0]},"root":{"y":-0.45,"z":-0.8}},{"t":1,"pose":{"Spine":[0,0,0],"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90],"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightLeg":[0,0,0]},"root":{"y":0,"z":-1.2}}]}}

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.