descend-ladder

name	descend-ladder
description	Climbs down a ladder hand-over-hand with the feet stepping down, via a sequence that lowers root.y. Use when a command mentions climb down the ladder, go down the ladder, descend the rungs, or come down a ladder.
category	locomotion
disable-model-invocation	true
subskills	["move-arm","move-leg","balance-and-posture"]

descend-ladder

Lower one hand and step the opposite foot down rung by rung, the body descending; minimal forward travel.

Composes: move-arm + move-leg + balance-and-posture

How

• Use a sequence with loop:false. Keep one hand high while the opposite knee lifts then plants a rung lower; alternate; lower root.y each step. Keep z ~0.
• durationMs ~2600.

Example

• "climb down the ladder" -> {"durationMs":2600,"say":"Down the ladder.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpperArm":[0,0,-90],"RightUpperArm":[0,0,90],"RightUpLeg":[40,0,0],"RightLeg":[60,0,0]},"root":{"y":0,"z":0}},{"t":0.5,"pose":{"RightUpperArm":[0,0,40],"LeftUpperArm":[0,0,-90],"LeftUpLeg":[40,0,0],"LeftLeg":[60,0,0],"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":-0.3,"z":0}},{"t":1,"pose":{"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":-0.6,"z":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.