added chat history exports

chat-history/scripts-used.txt

@@ -0,0 +1 @@
+https://github.com/iikoshteruu/enhanced-grok-export

naovolume.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+
+import argparse
+import sys
+import qi
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Get or set a NAO robot's volume.")
+    parser.add_argument("--ip", required=True, help="NAO IP address")
+    parser.add_argument("--port", type=int, default=9559, help="NAOqi port (default: 9559)")
+    parser.add_argument(
+        "--set",
+        type=int,
+        metavar="VOLUME",
+        help="Set volume (0-100)"
+    )
+
+    args = parser.parse_args()
+
+    try:
+        session = qi.Session()
+        session.connect(f"tcp://{args.ip}:{args.port}")
+    except RuntimeError as e:
+        print(f"Failed to connect: {e}", file=sys.stderr)
+        sys.exit(1)
+
+    audio = session.service("ALAudioDevice")
+
+    if args.set is not None:
+        volume = max(0, min(100, args.set))
+        audio.setOutputVolume(volume)
+        print(f"Volume set to {volume}%")
+
+    print(f"Current volume: {audio.getOutputVolume()}%")
+
+
+if __name__ == "__main__":
+    main()

naowalk.py

@@ -18,40 +18,23 @@ class NaoTeleop:
         self.video_client = None
         self.running = True
 
-        # Ultra-optimized video setup
+        self.head_yaw = 0.0
+        self.head_pitch = 0.0
+
         self._init_video_maxfps()
 
         pygame.init()
-        self.screen = pygame.display.set_mode((320, 240))   # Smaller window = faster
+        self.screen = pygame.display.set_mode((320, 240))
-        pygame.display.set_caption("NAO Teleop - MAX FPS")
+        pygame.display.set_caption("NAO Teleop - Wave on 1")
         self.clock = pygame.time.Clock()
 
     def _init_video_maxfps(self):
         try:
             self.video = self.session.service("ALVideoDevice")
-            print("✅ ALVideoDevice found")
+            self.video_client = self.video.subscribeCamera("TeleopCam", 0, 0, 11, 25)
+            print("✅ Camera ready")
         except:
-            print("❌ No video service")
+            print("Camera not available")
-            return
-
-        try:
-            # MAX SPEED SETTINGS:
-            self.video_client = self.video.subscribeCamera(
-                "MaxFpsCam", 
-                0,      # Top camera
-                0,      # 0 = kQQVGA (80x60)  → fastest
-                11,     # RGB
-                30      # Ask for 30fps (realistic ~15-20)
-            )
-            print("🚀 Camera subscribed in MAX FPS mode (80x60)")
-        except Exception as e:
-            print(f"Subscription failed: {e}")
-            # Fallback
-            try:
-                self.video_client = self.video.subscribe("MaxFpsCam", 0, 11, 20)
-                print("✅ Fallback subscription used")
-            except:
-                pass
 
     def get_image(self):
         if not self.video or not self.video_client:
@@ -62,23 +45,79 @@ class NaoTeleop:
                 w, h = image[0], image[1]
                 arr = np.frombuffer(bytearray(image[6]), dtype=np.uint8).reshape((h, w, 3))
                 frame = cv2.cvtColor(arr, cv2.COLOR_RGB2BGR)
-                # Minimal processing
                 return cv2.resize(frame, (320, 240), interpolation=cv2.INTER_NEAREST)
         except:
             pass
         return None
 
+    def wave_gesture(self):
+        print("🤚 Waving hello...")
+        try:
+            self.motion.setStiffnesses("RArm", 1.0)
+            
+            # Friendly high wave
+            names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw"]
+            
+            # 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)
+            ]
+            
+            times = [[0.5, 1.0, 1.5, 2.0, 2.5]] * 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
+            
+            print("✅ Better wave completed")
+            
+        except Exception as e:
+            print(f"Wave error: {e}")
+
+    def handle_head_movement(self):
+        keys = pygame.key.get_pressed()
+        speed = 0.3
+        changed = False
+
+        if keys[pygame.K_i]:   
+            self.head_pitch = max(self.head_pitch - speed, -0.5); changed = True
+        if keys[pygame.K_k]:   
+            self.head_pitch = min(self.head_pitch + speed, 0.5); changed = True
+        if keys[pygame.K_j]:   
+            self.head_yaw = min(self.head_yaw + speed, 2.0); changed = True
+        if keys[pygame.K_l]:   
+            self.head_yaw = max(self.head_yaw - speed, -2.0); changed = True
+
+        if changed:
+            self.motion.setAngles(["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.3)
+
     def run(self):
         self.motion.wakeUp()
         self.posture.goToPosture("StandInit", 0.5)
-        print("🚀 MAX FPS MODE ACTIVE - WASD/Arrows | ESC to quit")
+        
+        print("🎮 Controls:")
+        print("   WASD / Arrows = Walk")
+        print("   I J K L       = Head")
+        print("   1             = Wave")
+        print("   ESC = Quit")
 
         while self.running:
             for event in pygame.event.get():
-                if event.type == pygame.QUIT or (event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE):
+                if event.type == pygame.QUIT:
                     self.running = False
+                elif event.type == pygame.KEYDOWN:
+                    if event.key == pygame.K_ESCAPE:
+                        self.running = False
+                    elif event.key == pygame.K_1:
+                        self.wave_gesture()
 
-            # Fast input handling
+            # Walking
             keys = pygame.key.get_pressed()
             x = y = theta = 0.0
             if keys[pygame.K_w] or keys[pygame.K_UP]:    x = 0.9
@@ -91,6 +130,8 @@ class NaoTeleop:
             else:
                 self.motion.stopMove()
 
+            self.handle_head_movement()
+
             # Camera
             frame = self.get_image()
             if frame is not None:
@@ -101,9 +142,9 @@ class NaoTeleop:
                 self.screen.fill((10, 10, 30))
 
             pygame.display.flip()
-            self.clock.tick(0)   # MAX speed (no limit)
+            self.clock.tick(0)
 
-        # Clean shutdown
+        # Shutdown
         print("Shutting down...")
         self.motion.stopMove()
         self.motion.rest()