improved cena gesture

naowalk.py

@@ -251,23 +251,26 @@ class NaoTeleop:
 
     def cena_gesture(self):
         if self.typing_mode: return
-        print("👋 YOU CAN'T SEE ME! (Backhand version)")
+        print("👋 YOU CAN'T SEE ME! (Pendulum Sweep)")
         try:
             self.motion.setStiffnesses("RArm", 1.0)
             names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
             
-            # Adjusted RWristYaw to 1.5 to turn the hand backhand
+            # Anchor pose: Arm brought up to face, elbow bent.
-            angles = [
+            # RShoulderRoll -0.2 (closer to body), RElbowRoll 1.3 (vertical).
-                [-0.4]*5,                             # Pitch (raise arm)
+            # The swing happens on RElbowYaw.
-                [-0.1, -0.6, -0.1, -0.6, -0.1],       # Roll (wave across face)
-                [0.0]*5,                              # Elbow Yaw 
-                [1.4]*5,                              # Elbow Roll (bent to face)
-                [1.5]*5,                              # Wrist Yaw (Backhand flip)
-                [1.0]*5                               # Hand flat and open
-            ]
-            times = [[0.4, 0.8, 1.2, 1.6, 2.0]] * 6
             
-            self.motion.angleInterpolation(names, angles, times, 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 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]