changed gesture loader, it has tai chi and gangnam style now and the ability to load choregraphe gestures

gestures/1_wave.py

@@ -0,0 +1,20 @@
+# Loaded by naowalk.py's gesture loader (_load_gestures). The filename's
+# leading digit ("1") is which number key triggers this. Every gesture
+# file just needs a run(motion, tts) function - motion is the connected
+# ALMotion proxy, tts is ALTextToSpeech. Optionally set NAME below to
+# control the display name shown in the on-screen controls hint.
+
+NAME = "Wave"
+
+
+def run(motion, tts):
+    motion.setStiffnesses("RArm", 1.0)
+    names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
+    angles = [[-1.5]*5, [-0.4,-0.7,-0.4,-0.7,-0.4], [0.6,1.1,0.6,1.1,0.6],
+              [0.8,0.3,0.8,0.3,0.8], [0.0,1.5,0.0,-1.5,0.0], [1.0]*5]
+    times = [[0.5,1.0,1.5,2.0,2.5]] * 6
+    motion.angleInterpolation(names, angles, times, True)
+    neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
+    motion.angleInterpolationWithSpeed(names, neutral, 0.3)
+    # Relaxed stiffness after completion
+    motion.setStiffnesses("RArm", 0.3)