added chat history exports

naovolume.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+
+import argparse
+import sys
+import qi
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Get or set a NAO robot's volume.")
+    parser.add_argument("--ip", required=True, help="NAO IP address")
+    parser.add_argument("--port", type=int, default=9559, help="NAOqi port (default: 9559)")
+    parser.add_argument(
+        "--set",
+        type=int,
+        metavar="VOLUME",
+        help="Set volume (0-100)"
+    )
+
+    args = parser.parse_args()
+
+    try:
+        session = qi.Session()
+        session.connect(f"tcp://{args.ip}:{args.port}")
+    except RuntimeError as e:
+        print(f"Failed to connect: {e}", file=sys.stderr)
+        sys.exit(1)
+
+    audio = session.service("ALAudioDevice")
+
+    if args.set is not None:
+        volume = max(0, min(100, args.set))
+        audio.setOutputVolume(volume)
+        print(f"Volume set to {volume}%")
+
+    print(f"Current volume: {audio.getOutputVolume()}%")
+
+
+if __name__ == "__main__":
+    main()

naowalk.py

@@ -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
+                [-1.0, -0.8, -1.0, -0.8, -1.0],   # RShoulderPitch  (raise arm high)
-                [0.0,  0.3,  0.0],       # ShoulderRoll
+                [ 0.2, -0.5,  0.2, -0.5,  0.2],   # RShoulderRoll
-                [0.0,  1.0,  0.0],       # ElbowYaw
+                [ 0.8,  1.2,  0.8,  1.2,  0.8],   # RElbowYaw
-                [0.0, -1.0,  0.0],       # ElbowRoll
+                [-1.0, -0.3, -1.0, -0.3, -1.0],   # RElbowRoll
-                [0.0,  1.5,  0.0]        # WristYaw
+                [ 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
+            # Strong return to neutral position
-            self.motion.setAngles("RArm", [0.0]*5, 0.4)
+            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("   I J K L       = Head")
-        print("   1             = Wave gesture")
+        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