| name | backpedal |
| description | Backpedals quickly in a low athletic stance while still facing forward, via a translating sequence that moves root backward. Use when a command mentions backpedal, back-pedal, defensive backpedal, run backward staying square, or shuffle back fast facing forward. |
| category | locomotion |
| disable-model-invocation | true |
| subskills | ["walk","balance-and-posture"] |
backpedal
A fast athletic backward run, 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.
- Stay low (
Spine+X~10) with quick alternating leg drives.
- Short
durationMs (~1900).
Example
- "backpedal" ->
{"durationMs":1900,"say":"Backpedaling!","sequence":{"loop":false,"frames":[{"t":0,"pose":{"Spine":[10,0,0],"LeftLeg":[25,0,0],"RightUpLeg":[40,0,0]},"root":{"z":-0.7}},{"t":0.5,"pose":{"RightLeg":[25,0,0],"LeftUpLeg":[40,0,0]},"root":{"z":-1.5}},{"t":1,"pose":{"LeftUpLeg":[0,0,180],"RightUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightLeg":[0,0,0],"Spine":[0,0,0]},"root":{"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.
