retreat

name	retreat
description	Retreats steadily backward while facing the threat, via a translating sequence that moves root backward. Use when a command mentions retreat, withdraw, fall back, give ground, or back off while staying faced toward danger.
category	locomotion
disable-model-invocation	true
subskills	["walk","balance-and-posture"]

retreat

A wary backward withdrawal that keeps you 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.
• Alternate careful backward steps (knee lift then plant), stay upright and wary.
• durationMs ~2400.

Example

• "retreat slowly" -> {"durationMs":2400,"say":"Backing away slowly.","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[30,0,0],"LeftLeg":[20,0,0]},"root":{"z":-0.6}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[30,0,0],"RightLeg":[20,0,0]},"root":{"z":-1.2}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"z":-1.8}}]}}

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.