tiptoe-backward

name	tiptoe-backward
description	Tiptoes backward quietly on the balls of the feet, keeping facing forward, via a translating sequence that moves root backward. Use when a command mentions tiptoe backward, sneak backward on toes, back away quietly, or creep back on your toes.
category	locomotion
disable-model-invocation	true
subskills	["walk","balance-and-posture"]

tiptoe-backward

Quiet backward steps on pointed toes while still facing forward. 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 step more negative; do NOT set faceDeg.
• Pointed feet (Foot X~55) and a small knee bend each step.
• durationMs ~2600.

Example

• "tiptoe backward" -> {"durationMs":2600,"say":"Backing off quietly...","sequence":{"loop":false,"frames":[{"t":0,"pose":{"LeftUpLeg":[25,0,0],"LeftLeg":[20,0,0],"LeftFoot":[55,0,0],"RightFoot":[55,0,0]},"root":{"z":-0.5}},{"t":0.5,"pose":{"LeftUpLeg":[0,0,180],"LeftLeg":[0,0,0],"RightUpLeg":[25,0,0],"RightLeg":[20,0,0]},"root":{"z":-1}},{"t":1,"pose":{"RightUpLeg":[0,0,180],"RightLeg":[0,0,0]},"root":{"z":-1.5}}]}}

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.