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working on cena gesture (2)

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Lucca Pirovano
2026-07-16 14:21:29 -04:00
parent ab67b128c1
commit 158372e528
1 changed files with 31 additions and 4 deletions
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naowalk.py
+31 -4
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@@ -158,7 +158,7 @@ class NaoTeleop:
self.battery_level = 100 self.battery_level = 100
self.last_batt_check = 0 self.last_batt_check = 0
self.volume = 50 self.volume = 50
self.walk_speed = 0.6 # Default walking speed self.walk_speed = 0.6
self.typing_mode = False self.typing_mode = False
self.chat_message = "" self.chat_message = ""
@@ -183,7 +183,6 @@ class NaoTeleop:
self.update_title() self.update_title()
def _safe(self, label, fn): def _safe(self, label, fn):
"""Run fn(), log+swallow any exception so one failure can't crash the loop."""
try: try:
return fn() return fn()
except Exception as e: except Exception as e:
@@ -250,6 +249,33 @@ class NaoTeleop:
except Exception as e: except Exception as e:
print(f"Wave error: {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): def handle_head_movement(self):
if self.typing_mode or self.music_search_mode: return if self.typing_mode or self.music_search_mode: return
keys = pygame.key.get_pressed() keys = pygame.key.get_pressed()
@@ -299,7 +325,7 @@ class NaoTeleop:
self._safe("moveInit", self.motion.moveInit) self._safe("moveInit", self.motion.moveInit)
print("🦶 Walk engine ready") 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: try:
while self.running: while self.running:
@@ -377,6 +403,8 @@ class NaoTeleop:
self.running = False self.running = False
elif event.key == pygame.K_1: elif event.key == pygame.K_1:
self.wave_gesture() self.wave_gesture()
elif event.key == pygame.K_2:
self.cena_gesture()
elif event.key == pygame.K_SPACE: elif event.key == pygame.K_SPACE:
self.reset_head() self.reset_head()
elif event.key == pygame.K_m: elif event.key == pygame.K_m:
@@ -535,4 +563,3 @@ if __name__ == "__main__":
mic_channel=MIC_CHANNELS[args.mic_channel], mic_channel=MIC_CHANNELS[args.mic_channel],
mic_gain=args.mic_gain, mic_gain=args.mic_gain,
video_scale=args.video_scale).run() video_scale=args.video_scale).run()