commit 019602cec18c46898d58cfb99ff9c7c43cc92107
Author: Lucca Pirovano <luccapirovano@gmx.com>
Date:   Wed Jul 15 13:19:27 2026 -0400

    initial ai-genned base for the code

diff --git a/naowalk.py b/naowalk.py
new file mode 100644
index 0000000..9f16507
--- /dev/null
+++ b/naowalk.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python
+# -*- encoding: UTF-8 -*-
+
+import qi
+import argparse
+import sys
+import time
+import threading
+import cv2
+import numpy as np
+import pygame
+from pygame.locals import *
+
+import vision_definitions
+
+class NaoTeleop:
+    def __init__(self, session, robot_ip="127.0.0.1", port=9559):
+        self.motion = session.service("ALMotion")
+        self.posture = session.service("ALRobotPosture")
+        self.video = session.service("ALVideoDevice")
+        
+        self.robot_ip = robot_ip
+        self.running = True
+        
+        # Video client
+        self.resolution = vision_definitions.kQVGA  # 320x240
+        self.color_space = vision_definitions.kRGBColorSpace
+        self.fps = 15
+        self.video_client = self.video.subscribe("TeleopCamera", self.resolution, self.color_space, self.fps)
+        
+        # Pygame setup
+        pygame.init()
+        self.screen = pygame.display.set_mode((640, 480))
+        pygame.display.set_caption("NAO Teleoperation - Camera + Controls")
+        self.clock = pygame.time.Clock()
+        
+        # Movement params
+        self.speed = 0.8  # forward/back
+        self.turn_speed = 0.6
+        self.strafe = 0.5
+
+    def get_image(self):
+        """Get latest image from NAO camera"""
+        image = self.video.getImageRemote(self.video_client)
+        if image is None:
+            return None
+        
+        width = image[0]
+        height = image[1]
+        array = image[6]
+        image_array = np.frombuffer(bytearray(array), dtype=np.uint8).reshape((height, width, 3))
+        return cv2.cvtColor(image_array, cv2.COLOR_RGB2BGR)  # OpenCV uses BGR
+
+    def handle_input(self):
+        """Handle keyboard + gamepad input"""
+        keys = pygame.key.get_pressed()
+        x = y = theta = 0.0
+
+        # Keyboard (WASD + arrows)
+        if keys[K_w] or keys[K_UP]:
+            x = self.speed
+        if keys[K_s] or keys[K_DOWN]:
+            x = -self.speed
+        if keys[K_a] or keys[K_LEFT]:
+            theta = self.turn_speed
+        if keys[K_d] or keys[K_RIGHT]:
+            theta = -self.turn_speed
+        if keys[K_q]:
+            y = self.strafe   # strafe left
+        if keys[K_e]:
+            y = -self.strafe  # strafe right
+
+        # Game controller (Xbox/PlayStation style)
+        if pygame.joystick.get_count() > 0:
+            joy = pygame.joystick.Joystick(0)
+            joy.init()
+            
+            # Left stick: forward/back + strafe
+            axis_x = joy.get_axis(0)   # strafe
+            axis_y = joy.get_axis(1)   # forward/back (usually inverted)
+            x = -axis_y * self.speed
+            y = axis_x * self.strafe
+            
+            # Right stick or D-pad for turning
+            turn_axis = joy.get_axis(3) if joy.get_numbuttons() > 3 else 0
+            theta = -turn_axis * self.turn_speed
+            
+            # Buttons for speed / posture
+            if joy.get_button(0):  # A/X button - stand
+                self.posture.goToPosture("StandInit", 0.5)
+            if joy.get_button(1):  # B/O button - rest
+                self.motion.rest()
+
+        # Apply movement (non-blocking)
+        if abs(x) > 0.1 or abs(y) > 0.1 or abs(theta) > 0.1:
+            self.motion.moveToward(x, y, theta, [["Frequency", 1.0]])
+        else:
+            self.motion.stopMove()
+
+    def run(self):
+        # Wake up and stand
+        self.motion.wakeUp()
+        self.posture.goToPosture("StandInit", 0.5)
+        self.motion.setMoveArmsEnabled(True, True)
+        
+        print("Controls:")
+        print("  WASD / Arrow keys - Move / Turn")
+        print("  Q/E - Strafe left/right")
+        print("  Gamepad: Left stick move, Right stick turn")
+        print("  Press ESC or close window to quit")
+        
+        try:
+            while self.running:
+                for event in pygame.event.get():
+                    if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
+                        self.running = False
+                
+                self.handle_input()
+                
+                # Get and display camera
+                frame = self.get_image()
+                if frame is not None:
+                    frame = cv2.resize(frame, (640, 480))
+                    # Convert to Pygame surface
+                    frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+                    surf = pygame.surfarray.make_surface(frame.swapaxes(0,1))
+                    self.screen.blit(surf, (0, 0))
+                
+                pygame.display.flip()
+                self.clock.tick(30)
+        
+        finally:
+            self.motion.stopMove()
+            self.motion.rest()
+            if self.video_client:
+                self.video.unsubscribe(self.video_client)
+            pygame.quit()
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--ip", type=str, default="127.0.0.1",
+                        help="Robot IP address")
+    parser.add_argument("--port", type=int, default=9559,
+                        help="Naoqi port")
+    
+    args = parser.parse_args()
+    
+    session = qi.Session()
+    try:
+        session.connect(f"tcp://{args.ip}:{args.port}")
+    except RuntimeError:
+        print(f"Can't connect to Naoqi at {args.ip}:{args.port}")
+        sys.exit(1)
+    
+    teleop = NaoTeleop(session, args.ip, args.port)
+    teleop.run()
+
+if __name__ == "__main__":
+    main()
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..79b1367
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,12 @@
+# requirements.txt for NAO Robot Teleoperation
+
+# Core NAOqi SDK (required - install via Aldebaran/SoftBank installer)
+# qi  # Usually installed with the NAOqi Python SDK
+
+# Python packages
+opencv-python>=4.5.0
+pygame>=2.0.0
+numpy>=1.21.0
+
+# Optional but recommended
+pillow>=9.0.0        # If you want PIL fallback for images