From 158372e528ad81a39c007b575680620db84315bb Mon Sep 17 00:00:00 2001
From: Lucca Pirovano <luccapirovano@gmx.com>
Date: Thu, 16 Jul 2026 14:21:29 -0400
Subject: [PATCH] working on cena gesture (2)

---
 naowalk.py | 35 +++++++++++++++++++++++++++++++----
 1 file changed, 31 insertions(+), 4 deletions(-)

diff --git a/naowalk.py b/naowalk.py
index 5daae3a..01cf9f9 100644
--- a/naowalk.py
+++ b/naowalk.py
@@ -158,7 +158,7 @@ class NaoTeleop:
         self.battery_level = 100
         self.last_batt_check = 0
         self.volume = 50
-        self.walk_speed = 0.6  # Default walking speed
+        self.walk_speed = 0.6
 
         self.typing_mode = False
         self.chat_message = ""
@@ -183,7 +183,6 @@ class NaoTeleop:
         self.update_title()
 
     def _safe(self, label, fn):
-        """Run fn(), log+swallow any exception so one failure can't crash the loop."""
         try:
             return fn()
         except Exception as e:
@@ -250,6 +249,33 @@ class NaoTeleop:
         except Exception as e:
             print(f"Wave error: {e}")
 
+    def cena_gesture(self):
+        if self.typing_mode: return
+        print("👋 YOU CAN'T SEE ME! (Backhand version)")
+        try:
+            self.motion.setStiffnesses("RArm", 1.0)
+            names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
+            
+            # Adjusted RWristYaw to 1.5 to turn the hand backhand
+            angles = [
+                [-0.4]*5,                             # Pitch (raise arm)
+                [-0.1, -0.6, -0.1, -0.6, -0.1],       # Roll (wave across face)
+                [0.0]*5,                              # Elbow Yaw 
+                [1.4]*5,                              # Elbow Roll (bent to face)
+                [1.5]*5,                              # Wrist Yaw (Backhand flip)
+                [1.0]*5                               # Hand flat and open
+            ]
+            times = [[0.4, 0.8, 1.2, 1.6, 2.0]] * 6
+            
+            self.motion.angleInterpolation(names, angles, times, True)
+            
+            # Return to neutral
+            neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
+            self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)
+            self.motion.setStiffnesses("RArm", 0.6)
+        except Exception as e:
+            print(f"Cena gesture error: {e}")
+
     def handle_head_movement(self):
         if self.typing_mode or self.music_search_mode: return
         keys = pygame.key.get_pressed()
@@ -299,7 +325,7 @@ class NaoTeleop:
         self._safe("moveInit", self.motion.moveInit)
         print("🦶 Walk engine ready")
 
-        print("\n🎮 Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search (↑↓ select, Enter confirm) | X=Stop | -/==Volume | T=TTS | ESC=Quit")
+        print("\n🎮 Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | 2=Cena | M=Music search | X=Stop | -/==Volume | T=TTS | ESC=Quit")
 
         try:
             while self.running:
@@ -377,6 +403,8 @@ class NaoTeleop:
                                     self.running = False
                                 elif event.key == pygame.K_1:
                                     self.wave_gesture()
+                                elif event.key == pygame.K_2:
+                                    self.cena_gesture()
                                 elif event.key == pygame.K_SPACE:
                                     self.reset_head()
                                 elif event.key == pygame.K_m:
@@ -535,4 +563,3 @@ if __name__ == "__main__":
               mic_channel=MIC_CHANNELS[args.mic_channel],
               mic_gain=args.mic_gain,
               video_scale=args.video_scale).run()
-