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working on cena gesture

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Lucca Pirovano
2026-07-16 14:41:23 -04:00
parent ca196f5f1e
commit c6b9cb0718
1 changed files with 11 additions and 15 deletions
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naowalk.py
+11 -15
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@@ -251,27 +251,23 @@ class NaoTeleop:
def cena_gesture(self):
if self.typing_mode: return
print("👋 YOU CAN'T SEE ME! (Pendulum Sweep)")
print("👋 YOU CAN'T SEE ME!")
try:
# 1. Trigger the classic line
self.tts.say("You can't see me")
self.motion.setStiffnesses("RArm", 1.0)
names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
# Anchor pose: Arm brought up to face, elbow bent.
# RShoulderRoll -0.2 (closer to body), RElbowRoll 1.3 (vertical).
# The swing happens on RElbowYaw.
# Setup for tight, face-level sweep
tight_setup = [-0.4, -0.2, 0.0, 1.2, 1.5, 1.0]
self.motion.angleInterpolation(names, tight_setup, [0.5]*6, True)
# Setup: Move to start position at the side of the face
# Setting up the pose first
self.motion.angleInterpolation(["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"],
[-0.2, -0.2, -0.6, 1.3, 1.2, 1.0], 0.5, True)
# The horizontal "backhand" sweep
self.motion.angleInterpolation(["RElbowYaw"], [0.8], 0.4, True)
self.motion.angleInterpolation(["RElbowYaw"], [-0.8], 0.6, True)
self.motion.angleInterpolation(["RElbowYaw"], [0.0], 0.4, True)
# The Pendulum Sweep: Moving RElbowYaw from left to right across the face
# Swings from -0.6 to 0.6
self.motion.angleInterpolation(["RElbowYaw"], [0.6], 0.8, True)
# Optional: Add a second faster sweep if you want
self.motion.angleInterpolation(["RElbowYaw"], [-0.6], 0.6, True)
# Return to neutral
neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)