| 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.
