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added chat history exports

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Lucca Pirovano
2026-07-15 13:55:14 -04:00
parent 5f12b92f3d
commit 457228b237
3 changed files with 2033 additions and 15 deletions
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naowalk.py
+21 -15
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@@ -51,34 +51,40 @@ class NaoTeleop:
return None
def wave_gesture(self):
print("🤚 Waving...")
print("🤚 Waving hello...")
try:
# Simple friendly wave with right arm
self.motion.setStiffnesses("RArm", 1.0)
# Wave motion
# Friendly high wave
names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw"]
# Better motion: arm raised higher + side-to-side wave
angles = [
[-0.3, -0.3, -0.3], # ShoulderPitch
[0.0, 0.3, 0.0], # ShoulderRoll
[0.0, 1.0, 0.0], # ElbowYaw
[0.0, -1.0, 0.0], # ElbowRoll
[0.0, 1.5, 0.0] # WristYaw
[-1.0, -0.8, -1.0, -0.8, -1.0], # RShoulderPitch (raise arm high)
[ 0.2, -0.5, 0.2, -0.5, 0.2], # RShoulderRoll
[ 0.8, 1.2, 0.8, 1.2, 0.8], # RElbowYaw
[-1.0, -0.3, -1.0, -0.3, -1.0], # RElbowRoll
[ 0.0, 1.5, 0.0, -1.5, 0.0] # RWristYaw (hand wave)
]
times = [[1.0, 1.8, 2.6], [1.0, 1.8, 2.6], [1.0, 1.8, 2.6], [1.0, 1.8, 2.6], [1.0, 1.8, 2.6]]
times = [[0.5, 1.0, 1.5, 2.0, 2.5]] * 5
self.motion.angleInterpolation(names, angles, times, True)
# Return to neutral
self.motion.setAngles("RArm", [0.0]*5, 0.4)
# Strong return to neutral position
self.motion.setAngles("RArm", [0.0] * 5, 0.6)
time.sleep(0.8) # Give time to settle
print("✅ Better wave completed")
except Exception as e:
print(f"Wave error: {e}")
def handle_head_movement(self):
keys = pygame.key.get_pressed()
speed = 0.3
changed = False
if keys[pygame.K_i]:
self.head_pitch = max(self.head_pitch - speed, -0.5); changed = True
if keys[pygame.K_k]:
@@ -97,8 +103,8 @@ class NaoTeleop:
print("🎮 Controls:")
print(" WASD / Arrows = Walk")
print(" I J K L = Head movement")
print(" 1 = Wave gesture")
print(" I J K L = Head")
print(" 1 = Wave")
print(" ESC = Quit")
while self.running:
@@ -108,7 +114,7 @@ class NaoTeleop:
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
self.running = False
elif event.key == pygame.K_1: # Number key 1
elif event.key == pygame.K_1:
self.wave_gesture()
# Walking