| name | tiptoe-up-stairs |
| description | Climbs the stairs quietly on the toes with soft careful steps, via a sequence that raises root.y with pointed feet. Use when a command mentions tiptoe up the stairs, sneak upstairs quietly, creep up the steps, or go up the stairs without a sound. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","walk","balance-and-posture"] |
tiptoe-up-stairs
Quiet stair climbing on the balls of the feet: soft high steps, pointed feet, body a touch forward.
Composes: move-leg + 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.
- Each step: lift a knee with the foot pointed (
Foot~55), plant softly, raise root.y~0.18 and nudge z. Alternate.
- Slow
durationMs (~2800).
Example
- "tiptoe up the stairs" ->
{"durationMs":2800,"say":"Quietly up the stairs...","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[70,0,0],"LeftLeg":[70,0,0],"LeftFoot":[55,0,0],"RightFoot":[55,0,0],"Spine":[12,0,0]},"root":{"y":0,"z":0}},{"t":0.33,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"LeftFoot":[55,0,0]},"root":{"y":0.18,"z":0.3}},{"t":0.66,"pose":{"RightUpLeg":[70,0,0],"RightLeg":[70,0,0]},"root":{"y":0.18,"z":0.5}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0.36,"z":0.8}}]}}
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.
