diff --git a/naowalk.py b/naowalk.py
index 0e4be49..f8589d7 100644
--- a/naowalk.py
+++ b/naowalk.py
@@ -55,27 +55,38 @@ class NaoTeleop:
         try:
             self.motion.setStiffnesses("RArm", 1.0)
             
-            # Friendly high wave
-            names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw"]
+            names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
             
-            # Better motion: arm raised higher + side-to-side wave
             angles = [
-                [-1.0, -0.8, -1.0, -0.8, -1.0],   # RShoulderPitch  (raise arm high)
-                [ 0.2, -0.5,  0.2, -0.5,  0.2],   # RShoulderRoll
-                [ 0.8,  1.2,  0.8,  1.2,  0.8],   # RElbowYaw
-                [-1.0, -0.3, -1.0, -0.3, -1.0],   # RElbowRoll
-                [ 0.0,  1.5,  0.0, -1.5,  0.0]    # RWristYaw (hand wave)
+                [-1.5, -1.5, -1.5, -1.5, -1.5],  
+                [-0.4, -0.7, -0.4, -0.7, -0.4],  
+                [ 0.6,  1.1,  0.6,  1.1,  0.6],  
+                [ 0.8,  0.3,  0.8,  0.3,  0.8],  
+                [ 0.0,  1.5,  0.0, -1.5,  0.0],  
+                [ 1.0,  1.0,  1.0,  1.0,  1.0]   
             ]
             
-            times = [[0.5, 1.0, 1.5, 2.0, 2.5]] * 5
+            times = [
+                [0.5, 1.0, 1.5, 2.0, 2.5],
+                [0.5, 1.0, 1.5, 2.0, 2.5],
+                [0.5, 1.0, 1.5, 2.0, 2.5],
+                [0.5, 1.0, 1.5, 2.0, 2.5],
+                [0.5, 1.0, 1.5, 2.0, 2.5],
+                [0.5, 1.0, 1.5, 2.0, 2.5]
+            ]
             
             self.motion.angleInterpolation(names, angles, times, True)
             
-            # Strong return to neutral position
-            self.motion.setAngles("RArm", [0.0] * 5, 0.6)
-            time.sleep(0.8)  # Give time to settle
+            # --- THE FIX ---
+            # True "StandInit" natural arm angles: Pitch 1.5 (down), slight bends.
+            neutral_angles = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
             
-            print("✅ Better wave completed")
+            # Use angleInterpolationWithSpeed so it finishes the movement BEFORE 
+            # the main loop can interrupt it with a stopMove() command.
+            # 0.3 means move at 30% of max speed for a smooth reset.
+            self.motion.angleInterpolationWithSpeed(names, neutral_angles, 0.3)
+            
+            print("✅ Proper wave completed and reset")
             
         except Exception as e:
             print(f"Wave error: {e}")