monster-walk

name	monster-walk
description	Performs athletic monster-walk lateral steps in a low wide stance keeping tension, keeping facing, via a translating sequence. Use when a command mentions monster walk, banded lateral walk, sumo lateral steps, or low athletic side steps.
category	locomotion
disable-model-invocation	true
subskills	["move-leg","bend-knees","balance-and-posture"]

monster-walk

Stay low and wide; step one foot out, then bring the other in — traveling laterally under control. Translate root while OMITTING faceDeg so the heading holds.

Composes: move-leg + 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. Step x; do NOT set faceDeg.
• Stay in a low half-squat (Spine+X~14, knees ~60, hips abducted); never let the knees cave.
• durationMs ~2600.

Example

• "do a monster walk" -> {"durationMs":2600,"say":"Monster walk—stay low.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[40,0,150],"LeftLeg":[60,0,0],"RightUpLeg":[40,0,180],"RightLeg":[60,0,0],"Spine":[14,0,0]},"root":{"x":-0.5,"y":-0.2}},{"t":0.5,"pose":{"LeftUpLeg":[40,0,180]},"root":{"x":-0.9,"y":-0.2}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightLeg":[0,0,0],"Spine":[0,0,0]},"root":{"x":-1.3,"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.