From a6767bf15427fda92a28088f62a6add649a54090 Mon Sep 17 00:00:00 2001
From: Lucca Pirovano <luccapirovano@gmx.com>
Date: Thu, 16 Jul 2026 16:16:13 -0400
Subject: [PATCH] added 6 7 gesture to slot 3

---
 naowalk.py | 51 ++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 50 insertions(+), 1 deletion(-)

diff --git a/naowalk.py b/naowalk.py
index 0758c32..65b8adc 100644
--- a/naowalk.py
+++ b/naowalk.py
@@ -280,6 +280,53 @@ class NaoTeleop:
         except Exception as e:
             print(f"Cena gesture error: {e}")
 
+    def six_seven_gesture(self):
+        if self.typing_mode: return
+        print("🖐️ SIX... SEVEN...")
+        try:
+            self.tts.say("Six, seven")
+
+            self.motion.setStiffnesses(["RArm", "LArm"], 1.0)
+
+            # Lock both arms up in front of the body, hands held out like a scale.
+            # ElbowYaw is rotated ~90° off zero here - that's what points the elbow's
+            # bend axis so flexing tips the forearm forward/down instead of curling
+            # it in across the chest. These joints don't move again until the return.
+            hold_names = [
+                "RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RWristYaw", "RHand",
+                "LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LWristYaw", "LHand"
+            ]
+            hold_angles = [
+                0.2, -0.2, 1.4, 1.57, 0.6,
+                0.2, 0.2, -1.4, -1.57, 0.6
+            ]
+            self.motion.angleInterpolationWithSpeed(hold_names, hold_angles, 0.25)
+
+            # Only the elbows seesaw now - a small tip back and forth, one arm
+            # rising while the other falls, like weighing something in each hand
+            # ("six... seven..."). Small amplitude so it stays a wobble, not a fold.
+            elbow_names = ["RElbowRoll", "LElbowRoll"]
+            r_low, r_high = 0.6, 1.0
+            l_low, l_high = -0.6, -1.0
+
+            elbow_angles = [
+                [r_low, r_high, r_low, r_high, r_low, r_high],
+                [l_high, l_low, l_high, l_low, l_high, l_low],
+            ]
+            times = [[0.35, 0.7, 1.05, 1.4, 1.75, 2.1]] * 2
+            self.motion.angleInterpolation(elbow_names, elbow_angles, times, True)
+
+            # Return everything to neutral
+            neutral_names = hold_names + elbow_names
+            neutral = [1.5, -0.15, 1.2, 0.0, 0.0,
+                       1.5, 0.15, -1.2, 0.0, 0.0,
+                       0.5, -0.5]
+            self.motion.angleInterpolationWithSpeed(neutral_names, neutral, 0.3)
+            # Relaxed stiffness after completion
+            self.motion.setStiffnesses(["RArm", "LArm"], 0.3)
+        except Exception as e:
+            print(f"Six seven gesture error: {e}")
+
     def handle_head_movement(self):
         if self.typing_mode or self.music_search_mode: return
         keys = pygame.key.get_pressed()
@@ -340,7 +387,7 @@ class NaoTeleop:
         self._safe("moveInit", self.motion.moveInit)
         print("🦶 Walk engine ready")
 
-        print("\n🎮 Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | 2=Cena | M=Music search | X=Stop | -/==Volume | T=TTS | ESC=Quit")
+        print("\n🎮 Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | 2=Cena | 3=6-7 | M=Music search | X=Stop | -/==Volume | T=TTS | ESC=Quit")
 
         try:
             while self.running:
@@ -420,6 +467,8 @@ class NaoTeleop:
                                     self.wave_gesture()
                                 elif event.key == pygame.K_2:
                                     self.cena_gesture()
+                                elif event.key == pygame.K_3:
+                                    self.six_seven_gesture()
                                 elif event.key == pygame.K_SPACE:
                                     self.reset_head()
                                 elif event.key == pygame.K_m: