| name | run-backward |
| description | Runs backward at speed while still facing forward, via a translating sequence that moves root backward. Use when a command mentions run backward, run backwards, sprint in reverse, or run while facing forward going back. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["walk","balance-and-posture"] |
run-backward
Sustained backward running, staying square to the front. 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.
- Slight back-lean (
Spine-X~6), drive the knees back, arms bent and pumping.
- Short
durationMs (~1900).
Example
- "run backward" ->
{"durationMs":1900,"say":"Running backwards!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[-6,0,0],"RightUpLeg":[45,0,0],"RightLeg":[40,0,0],"RightForearm":[0,0,90],"LeftForearm":[0,0,-90]},"root":{"z":-0.9}},{"t":0.5,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0],"LeftUpLeg":[45,0,0],"LeftLeg":[40,0,0]},"root":{"z":-1.8}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"Spine":[0,0,0]},"root":{"z":-2.6}}]}}
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.
