| name | skip-backward |
| description | Skips backward with a hop and alternating knee lifts while facing forward, via a translating sequence. Use when a command mentions skip backward, skip backwards, hop-skip in reverse, or skip while going back. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["move-leg","balance-and-posture"] |
skip-backward
A playful backward skip (hop + knee lift) keeping facing forward. Translate root while OMITTING faceDeg so the heading holds.
Composes: move-leg + 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 a knee lift (
UpLeg~70,Leg~60) with a root.y~0.18 hop.
durationMs ~2200.
Example
- "skip backward" ->
{"durationMs":2200,"say":"Skipping back!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[70,0,0],"LeftLeg":[60,0,0]},"root":{"y":0.18,"z":-0.5}},{"t":0.33,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0]},"root":{"y":0,"z":-1}},{"t":0.66,"pose":{"RightUpLeg":[70,0,0],"RightLeg":[60,0,0]},"root":{"y":0.18,"z":-1.6}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"y":0,"z":-2.2}}]}}
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.
