reduced arm stiffness while walking

naowalk.py

@@ -10,6 +10,10 @@ import queue
 import cv2
 import numpy as np
 import pygame
+import subprocess
+import os
+import json
+import re
 
 # Import the new music module
 from naomusic import NaoMusicPlayer
@@ -245,7 +249,8 @@ class NaoTeleop:
             self.motion.angleInterpolation(names, angles, times, True)
             neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
             self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)
-            self.motion.setStiffnesses("RArm", 0.6)
+            # Relaxed stiffness after completion
+            self.motion.setStiffnesses("RArm", 0.3)
         except Exception as e:
             print(f"Wave error: {e}")
 
@@ -253,7 +258,6 @@ class NaoTeleop:
         if self.typing_mode: return
         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)
@@ -271,7 +275,8 @@ class NaoTeleop:
             # Return to neutral
             neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
             self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)
-            self.motion.setStiffnesses("RArm", 0.6)
+            # Relaxed stiffness after completion
+            self.motion.setStiffnesses("RArm", 0.3)
         except Exception as e:
             print(f"Cena gesture error: {e}")
 
@@ -315,11 +320,22 @@ class NaoTeleop:
             self.last_batt_check = now
 
     def run(self):
+        print("🤖 Waking up...")
         self.motion.wakeUp()
+        
+        print("🚶 Going to StandInit...")
         self.posture.goToPosture("StandInit", 0.5)
-        time.sleep(1.0)
+        
+        # Enable walk arms BEFORE forcing stiffness
+        print("💪 Enabling walk arms...")
         self.motion.setMoveArmsEnabled(True, True)
         
+        # Give robot time to initialize motors
+        time.sleep(1.0)
+        
+        # Force relaxed stiffness AFTER engine is active
+        self.motion.setStiffnesses(["RArm", "LArm"], 0.3)
+
         print("🦶 Initializing walk engine...")
         self._safe("moveInit", self.motion.moveInit)
         print("🦶 Walk engine ready")