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

gestures/4_gangnam_style.py

@@ -0,0 +1,22 @@
+import os
+
+NAME = "Gangnam Style"
+
+# The Choregraphe project lives in a sibling folder with the same name
+# as this file (minus the .py) - e.g. gestures/4_gangnam_style/ next
+# to gestures/4_gangnam_style.py - containing manifest.xml and a
+# GangnamStyle/behavior.xar subfolder, exactly what Choregraphe's
+# "Export as package" produces.
+PACKAGE_DIR = os.path.splitext(os.path.abspath(__file__))[0]
+BEHAVIOR_SUBDIR = "GangnamStyle"
+
+
+def run(motion, tts, teleop):
+    # Deploys (first run only, cached after) + runs the actual
+    # Choregraphe behavior on the robot - this blocks until it
+    # finishes, same as the old hand-coded version did.
+    teleop.behavior_runner.ensure_running(PACKAGE_DIR, BEHAVIOR_SUBDIR)
+
+    # The .xar moves legs/hips, unlike the old arms-only version, so
+    # bring him back to a known walk-ready stance afterward.
+    teleop.idle_crouch()