| name | wall-slide |
| description | Slides down a wall into a seated wall-sit hold, then slides back up, via a sequence that lowers then raises root.y with the back kept vertical. Use when a command mentions wall slide, slide down the wall, slide down into a wall sit, or slide up and down the wall. (For the static hold, use wall-sit.) |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["bend-knees","move-leg","balance-and-posture"] |
wall-slide
Back against the wall, slide down until the thighs are level (a wall-sit), hold, then slide back up.
Composes: bend-knees + move-leg + balance-and-posture
How
- Use a
sequence with loop:false. Slide down to 90/90 knees with the torso vertical and root.y-0.45, hold, then extend the legs and rise to root.y:0.
- Keep the back flat against the wall and the feet planted.
durationMs ~2200.
Example
- "do a wall slide" ->
{"durationMs":2200,"say":"Sliding down the wall.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0}},{"t":0.4,"pose":{"LeftUpLeg":[90,0,0],"LeftLeg":[90,0,0],"RightUpLeg":[90,0,0],"RightLeg":[90,0,0]},"root":{"y":-0.45}},{"t":0.7,"pose":{"LeftUpLeg":[90,0,0],"LeftLeg":[90,0,0],"RightUpLeg":[90,0,0],"RightLeg":[90,0,0]},"root":{"y":-0.45}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0}}]}}
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.
