heel-toe

name	heel-toe
description	Walks with an exaggerated heel-to-toe roll, striking the heel first with the toes lifted, TRANSLATING via moveTo. Use when a command mentions heel-toe walk, heel to toe, roll through the foot, exaggerated heel strike, or deliberate heel-first walking.
category	locomotion
disable-model-invocation	true
subskills	["walk","move-leg"]

heel-toe

A deliberate heel-first roll-through gait. Engine drives the steps; dorsiflexed feet show the heel strike.

Composes: walk + move-leg

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. Mid distance.
• Base pose: dorsiflex the feet so the toes lift (Foot X~110, heel leads).
• durationMs ~2600.

Example

• "walk heel to toe" -> {"durationMs":2600,"moveTo":{"x":0,"z":2.5},"pose":{"LeftFoot":[110,0,0],"RightFoot":[110,0,0]},"say":"Heel, toe, heel, toe."}

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.