walk-on-heels

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.