added 6 7 gesture to slot 3

2026-07-16 16:51:13 -04:00
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+---
+title: "Your first chat with Claude"
+tags: []
+author: claude
+count: 5
+exporter: 3.1.0
+date: 2026-07-16T20-40-30+0000
+url: https://claude.ai/chat/838b001f-8bf8-4539-98ec-467513fb9860
+---
+
+# Your first chat with Claude
+
+## Table of Contents
+
+- [1: add the 6 7 meme as a third gesture](#chat-1)
+- [2: kinda looks like hes flailing his arms around, isnt it just the elbows…](#chat-2)
+- [3: right motions, but the nao currently extends his arms out, then moves…](#chat-3)
+- [4: perfect, now just rotate the hands so the palm faces up, everything el…](#chat-4)
+- [5: make him tts say six seven, also remove the input delay on starting th…](#chat-5)
+
+## chat-1
+
+> add the 6 7 meme as a third gesture
+
+## chat-2
+
+> kinda looks like hes flailing his arms around, isnt it just the elbows moving in the meme? with the arms in front
+
+Now let me replace the whole method with a version where the shoulders lock the arms up in front and only the elbows do the seesaw motion.
+
+___
+###### [top](#table-of-contents)
+## chat-3
+
+> right motions, but the nao currently extends his arms out, then moves his elbows to push the forearms close to his chest. i think the rotation is wrong on the elbow
+
+That makes sense — at `ElbowYaw=0` the elbow's bend axis is oriented so flexing curls the forearm in across the body toward the chest, not up/down in place. Rotating `ElbowYaw` about 90° turns that same hinge into a front-facing "tip" instead, and I'll shrink the swing so it's a wobble, not a full extend-then-fold.
+
+___
+###### [top](#table-of-contents)
+## chat-4
+
+> perfect, now just rotate the hands so the palm faces up, everything else is perfect
+
+## chat-5
+
+> make him tts say six seven, also remove the input delay on starting the 3rd gesture
+
+`self.tts.say(...)` is a blocking call, so it was speaking first and only starting the arm motion once the phrase finished — that's the delay. Making it fire on its own thread lets the gesture start immediately while the speech plays alongside it.
+
+___
+###### [top](#table-of-contents)
+