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

gestures/5_tai_chi.py

@@ -0,0 +1,22 @@
+import os
+
+NAME = "Tai Chi"
+
+# The Choregraphe project lives in a sibling folder with the same name
+# as this file (minus the .py) - e.g. gestures/5_tai_chi/ next to
+# gestures/5_tai_chi.py - containing manifest.xml and a
+# behavior_1/behavior.xar subfolder, exactly what Choregraphe's
+# "Export as package" produces.
+PACKAGE_DIR = os.path.splitext(os.path.abspath(__file__))[0]
+BEHAVIOR_SUBDIR = "behavior_1"
+
+
+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 pattern as the Gangnam Style gesture.
+    teleop.behavior_runner.ensure_running(PACKAGE_DIR, BEHAVIOR_SUBDIR)
+
+    # Tai chi moves legs/hips through slow stances, so bring him back
+    # to a known walk-ready stance afterward.
+    teleop.idle_crouch()