| name | walk-on-heels |
| description | Walks on the heels with the toes lifted off the floor, TRANSLATING via moveTo. Use when a command mentions walk on your heels, heel walk, toes up walk, or walk on your heels for balance. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["walk","balance-and-posture"] |
walk-on-heels
Travel balancing on the heels with toes pulled up. Engine drives the steps; dorsiflexed feet keep the toes off the ground.
Composes: walk + balance-and-posture
How
- TRAVEL uses top-level
moveTo (never an in-place leg cycle): a named target from state.locations, or a point ahead computed from state.position+state.faceDeg. Short distance.
- Base
pose: strong dorsiflexion both feet (Foot X~120), arms a little out for balance.
durationMs ~2800.
Example
- "walk on your heels" ->
{"durationMs":2800,"moveTo":{"x":0,"z":2},"pose":{"LeftFoot":[120,0,0],"RightFoot":[120,0,0],"LeftUpperArm":[0,0,75],"RightUpperArm":[0,0,-75]},"say":"Toes up, on my heels!"}
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.
