limp

name	limp
description	Limps to a destination by TRANSLATING via moveTo while favoring one stiff/injured leg and leaning away from it. Use when a command mentions limp, limping, hobble, favor a leg, hurt leg, walk with a limp, or gimpy walk.
category	locomotion
disable-model-invocation	true
subskills	["walk","move-leg"]

limp

Walk with an injured leg — one side stays stiff and the torso leans onto the good side. Travel normally; the asymmetry sells the limp.

How

• TRAVEL uses top-level moveTo (never in-place legs). Use a named target or a point ahead from state.position+state.faceDeg (0=+Z, 90=+X), d~1.5–2.5.
• Slow, uneven durationMs (~3000–3600).
• Base pose makes ONE leg stiff and shifts weight off it. For a hurt RIGHT leg: keep it stiff and pointed (RightLeg:[10,0,0], RightFoot:[60,0,0]) and lean the torso to its LEFT, the good side (Spine:[0,0,8], Chest:[0,0,6]). Mirror Z signs for a left-leg limp.

Example

• "walk with a limp" (hurt right leg, at x:0,z:0,faceDeg:0) -> {"durationMs":3200,"moveTo":{"x":0,"z":2},"pose":{"RightLeg":[10,0,0],"RightFoot":[60,0,0],"Spine":[0,0,8],"Chest":[0,0,6]},"say":"Ow... my leg."}
• "hobble to the couch" -> {"durationMs":3400,"moveTo":{"target":"couch"},"pose":{"RightLeg":[10,0,0],"Spine":[0,0,8]},"say":"Almost there."}