crawl-up-stairs

name	crawl-up-stairs
description	Climbs the stairs on hands and knees, via a low sequence that raises root.y. Use when a command mentions crawl up the stairs, climb the steps on hands and knees, scramble up the staircase, or go up the stairs on all fours.
category	locomotion
disable-model-invocation	true
subskills	["move-arm","move-leg","move-torso"]

crawl-up-stairs

A hands-and-knees stair climb: reach a hand up to the next step as the opposite knee drives up, body rising.

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.
• Torso forward (Spine+X~55); alternate reaching a hand up and driving the opposite knee onto the next step; raise root.y each beat.
• durationMs ~2800.

Example

• "crawl up the stairs" -> {"durationMs":2800,"say":"Crawling up the steps.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[55,0,0],"LeftUpperArm":[130,0,90],"RightUpLeg":[80,0,0],"RightLeg":[90,0,0]},"root":{"y":0,"z":0}},{"t":0.5,"pose":{"RightUpperArm":[130,0,-90],"LeftUpLeg":[80,0,0],"LeftLeg":[90,0,0]},"root":{"y":0.2,"z":0.3}},{"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":0.4,"z":0.6}}]}}

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.