| name | back-away |
| description | Slowly backs away from the current spot with cautious small backward steps while facing forward, via a translating sequence. Use when a command mentions back away, back off, ease backward, retreat slowly facing forward, or step back carefully. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["walk","balance-and-posture"] |
back-away
Cautious small backward steps, hands a little raised, keeping facing forward. Translate root while OMITTING faceDeg so the heading holds.
Composes: walk + 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. Make z more negative; do NOT set faceDeg.
- Small alternating backward steps; hands slightly up and wary.
durationMs ~2600.
Example
- "back away slowly" ->
{"durationMs":2600,"say":"I will just back away...","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[25,0,0],"LeftLeg":[18,0,0],"LeftUpperArm":[0,0,75],"RightUpperArm":[0,0,-75]},"root":{"z":-0.4}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[25,0,0],"RightLeg":[18,0,0]},"root":{"z":-0.9}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"LeftUpperArm":[0,0,90],"RightUpperArm":[0,0,-90]},"root":{"z":-1.4}}]}}
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.
