reduced latency by not having ssh run on every V press and just sending to tcp aplay when v is held

chat-history/claude_refactoring-python-project-files-and-code_2026-07-16T17-38-58+0000.md

@@ -0,0 +1,41 @@
+---
+title: "Refactoring Python project files and code"
+tags: []
+author: claude
+count: 2
+exporter: 3.1.0
+date: 2026-07-16T17-38-58+0000
+url: https://claude.ai/chat/313cfd88-e6b9-4256-b155-0b389d2b86c4
+---
+
+# Refactoring Python project files and code
+
+## Table of Contents
+
+- [1: make a requirements.txt, readme.md, and also remove the seek function…](#chat-1)
+- [2: how much faster can i make it walk, can we make it adjustable during r…](#chat-2)
+
+## chat-1
+
+> make a requirements.txt, readme.md, and also remove the seek function completely and reduce the lines of code without hurting stability
+
+Now the `pause()` method — simplify to a plain stop/restart toggle (no seek, no position math):
+
+Now let's add the `_safe` helper to `NaoTeleop` and use it to collapse the repeated try/except boilerplate:
+
+Now the shutdown block — this is where `_safe` pays off the most:
+
+Good — that's stable. Now let's view the final file once more end-to-end to make sure everything reads cleanly before shipping it.
+
+This looks clean and correct. Now let's write the `requirements.txt` and `README.md`.
+
+Good, all confirmed. Now the README:
+
+Now let's copy everything to outputs and present the files:
+
+___
+###### [top](#table-of-contents)
+## chat-2
+
+> how much faster can i make it walk, can we make it adjustable during runtime? we might need to change its posture so its less likely to fall and more balanced for carpet
+

chat-history/claude_your-first-chat-with-claude_2026-07-16T20-40-30+0000.md

@@ -0,0 +1,53 @@
+---
+title: "Your first chat with Claude"
+tags: []
+author: claude
+count: 5
+exporter: 3.1.0
+date: 2026-07-16T20-40-30+0000
+url: https://claude.ai/chat/838b001f-8bf8-4539-98ec-467513fb9860
+---
+
+# Your first chat with Claude
+
+## Table of Contents
+
+- [1: add the 6 7 meme as a third gesture](#chat-1)
+- [2: kinda looks like hes flailing his arms around, isnt it just the elbows…](#chat-2)
+- [3: right motions, but the nao currently extends his arms out, then moves…](#chat-3)
+- [4: perfect, now just rotate the hands so the palm faces up, everything el…](#chat-4)
+- [5: make him tts say six seven, also remove the input delay on starting th…](#chat-5)
+
+## chat-1
+
+> add the 6 7 meme as a third gesture
+
+## chat-2
+
+> kinda looks like hes flailing his arms around, isnt it just the elbows moving in the meme? with the arms in front
+
+Now let me replace the whole method with a version where the shoulders lock the arms up in front and only the elbows do the seesaw motion.
+
+___
+###### [top](#table-of-contents)
+## chat-3
+
+> right motions, but the nao currently extends his arms out, then moves his elbows to push the forearms close to his chest. i think the rotation is wrong on the elbow
+
+That makes sense — at `ElbowYaw=0` the elbow's bend axis is oriented so flexing curls the forearm in across the body toward the chest, not up/down in place. Rotating `ElbowYaw` about 90° turns that same hinge into a front-facing "tip" instead, and I'll shrink the swing so it's a wobble, not a full extend-then-fold.
+
+___
+###### [top](#table-of-contents)
+## chat-4
+
+> perfect, now just rotate the hands so the palm faces up, everything else is perfect
+
+## chat-5
+
+> make him tts say six seven, also remove the input delay on starting the 3rd gesture
+
+`self.tts.say(...)` is a blocking call, so it was speaking first and only starting the arm motion once the phrase finished — that's the delay. Making it fire on its own thread lets the gesture start immediately while the speech plays alongside it.
+
+___
+###### [top](#table-of-contents)
+

naomusic.py

@@ -0,0 +1,147 @@
+# naomusic.py
+# -*- encoding: UTF-8 -*-
+
+import subprocess
+import os
+import json
+import re
+import time
+import threading
+
+class NaoMusicPlayer:
+    def __init__(self, session, nao_ip):
+        self.session = session
+        self.player = session.service("ALAudioPlayer")
+        self.nao_ip = nao_ip
+        self.music_dir = "/home/nao/music"
+        self.local_path = "/tmp/song.mp3"
+        self.remote_path = f"{self.music_dir}/song.mp3"
+        try:
+            subprocess.run(["sshpass", "-p", "nao", "ssh", f"nao@{nao_ip}", f"mkdir -p {self.music_dir}"],
+                         stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+        except: pass
+        self.current_file = None
+        self.current_task_id = None
+        self.is_playing = False
+        self.current_title = ""
+        self.is_loading = False
+        self.load_error = None
+        self.status = ""
+        self.progress = 0.0
+
+    def search(self, query):
+        try:
+            cmd = ["yt-dlp", f"ytsearch5:{query}", "--flat-playlist", "--dump-json",
+                   "--no-warnings", "--quiet"]
+            result = subprocess.run(cmd, capture_output=True, text=True, timeout=30)
+            entries = []
+            for line in result.stdout.strip().splitlines():
+                if not line.strip():
+                    continue
+                try:
+                    data = json.loads(line)
+                except json.JSONDecodeError:
+                    continue
+                vid = data.get("id")
+                url = data.get("url")
+                if not url or not url.startswith("http"):
+                    url = f"https://www.youtube.com/watch?v={vid}" if vid else None
+                if url:
+                    entries.append({"url": url, "title": data.get("title", "Unknown")})
+            return entries
+        except Exception as e:
+            print(f"Search error: {e}")
+            return []
+
+    _DL_PROGRESS_RE = re.compile(r'\[download\]\s+([\d.]+)%')
+
+    def play(self, url, title):
+        self.stop()
+        self.current_title = title
+        self.is_loading = True
+        self.load_error = None
+        self.status = "Starting download..."
+        self.progress = 0.0
+        try:
+            if os.path.exists(self.local_path):
+                os.remove(self.local_path)
+        except: pass
+
+        try:
+            cmd = ["yt-dlp", url,
+                   "-x", "--audio-format", "mp3",
+                   "-o", self.local_path,
+                   "--no-playlist", "--no-warnings", "--newline"]
+            print(f"\n▶ yt-dlp {url}")
+            proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
+                                     text=True, bufsize=1)
+            for line in proc.stdout:
+                line = line.rstrip()
+                if not line:
+                    continue
+                print(f"  [yt-dlp] {line}")
+                m = self._DL_PROGRESS_RE.search(line)
+                if m:
+                    self.progress = float(m.group(1))
+                    self.status = f"Downloading... {self.progress:.0f}%"
+                elif "ExtractAudio" in line or "Extracting audio" in line:
+                    self.status = "Converting to mp3..."
+                elif line.startswith("[download] Destination"):
+                    self.status = "Downloading..."
+            proc.wait(timeout=120)
+
+            if proc.returncode != 0 or not os.path.exists(self.local_path):
+                print(f"Download failed (exit {proc.returncode})")
+                self.load_error = "Download failed"
+                return False
+
+            size_mb = os.path.getsize(self.local_path) / (1024 * 1024)
+            print(f"▶ scp {self.local_path} -> nao@{self.nao_ip}:{self.remote_path} ({size_mb:.1f} MB)")
+            self.progress = 0.0
+            upload_start = time.time()
+            stop_ticker = threading.Event()
+
+            def ticker():
+                while not stop_ticker.is_set():
+                    elapsed = time.time() - upload_start
+                    self.status = f"Uploading to NAO ({size_mb:.1f} MB)... {elapsed:.0f}s"
+                    stop_ticker.wait(1.0)
+
+            t = threading.Thread(target=ticker, daemon=True)
+            t.start()
+            scp_result = subprocess.run(
+                ["sshpass", "-p", "nao", "scp", self.local_path, f"nao@{self.nao_ip}:{self.remote_path}"],
+                capture_output=True, text=True, timeout=60
+            )
+            stop_ticker.set()
+            t.join(timeout=1.0)
+            print(f"  [scp] exit {scp_result.returncode}" +
+                  (f": {scp_result.stderr.strip()}" if scp_result.stderr.strip() else ""))
+            if scp_result.returncode != 0:
+                print(f"SCP failed: {scp_result.stderr.strip()}")
+                self.load_error = "SCP failed"
+                return False
+
+            self.current_file = self.remote_path
+            self.status = "Playing"
+            self.progress = 100.0
+            self.current_task_id = self.player.playFile(self.remote_path)
+            self.is_playing = True
+            print(f"♪ Playing on NAO: {title} (task {self.current_task_id})")
+            return True
+        except Exception as e:
+            print(f"Playback error: {e}")
+            self.load_error = str(e)
+            return False
+        finally:
+            self.is_loading = False
+
+    def stop(self):
+        try:
+            self.player.stopAll()
+        except Exception as e:
+            print(f"Stop error: {e}")
+        self.is_playing = False
+        self.current_file = None
+        self.current_task_id = None
+        self.current_title = ""

naowalk.py

@@ -14,6 +14,10 @@ import subprocess
 import os
 import json
 import re
+import socket
+
+# Import the new music module
+from naomusic import NaoMusicPlayer
 
 # --- Audio for mic ---
 try:
@@ -22,6 +26,13 @@ try:
 except ImportError:
     HAS_AUDIO = False
 
+# --- SSH for live mic relay (push-to-talk) ---
+try:
+    import paramiko
+    HAS_SSH = True
+except ImportError:
+    HAS_SSH = False
+
 # ==========================================
 # NAO MIC STREAM
 # ==========================================
@@ -29,7 +40,7 @@ class SoundReceiver:
     PREBUFFER_CHUNKS = 3
     SILENCE_CHUNK = b"\x00" * 4096
 
-    def __init__(self, output_device_index=None, mic_gain=8.0):
+    def __init__(self, output_device_index=None, mic_gain=8.0, pyaudio_instance=None):
         self.running = True
         self.underrun_count = 0
         self.chunks_received = 0
@@ -37,9 +48,12 @@ class SoundReceiver:
         self._peak_since_print = 0
         self._last_status_print = 0
         self.mic_gain = float(mic_gain)
+        self.muted = False
+        self._owns_pyaudio = False
 
         if HAS_AUDIO:
-            self.p = pyaudio.PyAudio()
+            self.p = pyaudio_instance if pyaudio_instance is not None else pyaudio.PyAudio()
+            self._owns_pyaudio = pyaudio_instance is None
             print("🔈 Available output devices:")
             for i in range(self.p.get_device_count()):
                 info = self.p.get_device_info_by_index(i)
@@ -106,6 +120,9 @@ class SoundReceiver:
 
     def _write_chunk(self, raw_bytes):
         try:
+            if self.muted:
+                self.stream.write(b"\x00" * len(raw_bytes))
+                return
             samples = np.frombuffer(raw_bytes, dtype=np.int16).astype(np.float32)
             if samples.size:
                 amplified = np.clip(samples * self.mic_gain, -32768, 32767)
@@ -125,180 +142,176 @@ class SoundReceiver:
             try:
                 self.stream.stop_stream()
                 self.stream.close()
+                if self._owns_pyaudio:
                     self.p.terminate()
             except: pass
 
+# ==========================================
+# LIVE MIC RELAY (push-to-talk over SSH)
+# ==========================================
+class LiveMicRelay:
+    """
+    Push-to-talk: streams the local mic straight to NAO's own speaker.
 
-# ==========================================
-# MUSIC PLAYER ON NAO (scp)
-# ==========================================
-class NaoMusicPlayer:
-    def __init__(self, session, nao_ip):
-        self.session = session
-        self.player = session.service("ALAudioPlayer")
+    connect() (call once at startup, off the hot path) SSHes into the
+    robot and launches a self-restarting `nc -l | aplay` loop that stays
+    up for the whole session. Each start()/stop() (per push-to-talk
+    press) then just opens/closes a plain TCP socket to that already-
+    running listener and pipes raw mic audio into it - no SSH handshake
+    per press. Closing the socket on stop() ends that iteration's nc,
+    which ends aplay with it, and the remote loop immediately relaunches
+    nc so it's ready for the next press. close() (call once at shutdown)
+    tears down the persistent SSH connection and kills the remote loop.
+    """
+    def __init__(self, nao_ip, ssh_user="nao", ssh_password="nao",
+                 port=5555, rate=16000, input_device_index=None, pyaudio_instance=None):
         self.nao_ip = nao_ip
-        self.music_dir = "/home/nao/music"
-        self.local_path = "/tmp/song.mp3"
-        self.remote_path = f"{self.music_dir}/song.mp3"
+        self.ssh_user = ssh_user
+        self.ssh_password = ssh_password
+        self.port = port
+        self.rate = rate
+        self.input_device_index = input_device_index
+
+        self.active = False
+        self.connected = False  # remote listener is up, ready for fast local connects
+        # "idle" | "connecting" | "live" - read by the HUD to show status
+        self.state = "idle"
+        self._ssh_client = None
+        self._ssh_channel = None
+        self._sock = None
+        self._stream = None
+        self._thread = None
+        # Reuse the app's single PyAudio context - a second independent one
+        # opened from a background thread crashes PortAudio's PulseAudio
+        # backend (pa_atomic_load assertion).
+        self._p = pyaudio_instance if pyaudio_instance is not None else (pyaudio.PyAudio() if HAS_AUDIO else None)
+
+    def connect(self):
+        """One-time setup: SSH in and launch a self-restarting remote
+        listener (`nc | aplay` in a loop) that stays up for the whole app
+        session. Call this once at startup, in a background thread so it
+        doesn't block. After this, start()/stop() per push-to-talk press
+        only do a fast local socket connect - no SSH in the hot path.
+        """
+        if not HAS_SSH:
+            print("🎙️ Live mic needs paramiko: pip install paramiko")
+            return
         try:
-            subprocess.run(["sshpass", "-p", "nao", "ssh", f"nao@{nao_ip}", f"mkdir -p {self.music_dir}"],
-                         stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
-        except: pass
-        self.current_file = None
-        self.current_task_id = None
-        self.is_playing = False
-        self.current_title = ""
-        self.is_loading = False
-        self.load_error = None
-        self.status = ""
-        self.progress = 0.0
-
-    def search(self, query):
-        try:
-            cmd = ["yt-dlp", f"ytsearch5:{query}", "--flat-playlist", "--dump-json",
-                   "--no-warnings", "--quiet"]
-            result = subprocess.run(cmd, capture_output=True, text=True, timeout=30)
-            entries = []
-            for line in result.stdout.strip().splitlines():
-                if not line.strip():
-                    continue
-                try:
-                    data = json.loads(line)
-                except json.JSONDecodeError:
-                    continue
-                vid = data.get("id")
-                url = data.get("url")
-                if not url or not url.startswith("http"):
-                    url = f"https://www.youtube.com/watch?v={vid}" if vid else None
-                if url:
-                    entries.append({"url": url, "title": data.get("title", "Unknown")})
-            return entries
-        except Exception as e:
-            print(f"Search error: {e}")
-            return []
-
-    _DL_PROGRESS_RE = re.compile(r'\[download\]\s+([\d.]+)%')
-
-    def play(self, url, title):
-        self.stop()
-        self.current_title = title
-        self.is_loading = True
-        self.load_error = None
-        self.status = "Starting download..."
-        self.progress = 0.0
-        try:
-            if os.path.exists(self.local_path):
-                os.remove(self.local_path)
-        except: pass
-
-        try:
-            cmd = ["yt-dlp", url,
-                   "-x", "--audio-format", "mp3",
-                   "-o", self.local_path,
-                   "--no-playlist", "--no-warnings", "--newline"]
-            print(f"\n▶ yt-dlp {url}")
-            proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
-                                     text=True, bufsize=1)
-            for line in proc.stdout:
-                line = line.rstrip()
-                if not line:
-                    continue
-                print(f"  [yt-dlp] {line}")
-                m = self._DL_PROGRESS_RE.search(line)
-                if m:
-                    self.progress = float(m.group(1))
-                    self.status = f"Downloading... {self.progress:.0f}%"
-                elif "ExtractAudio" in line or "Extracting audio" in line:
-                    self.status = "Converting to mp3..."
-                elif line.startswith("[download] Destination"):
-                    self.status = "Downloading..."
-            proc.wait(timeout=120)
-
-            if proc.returncode != 0 or not os.path.exists(self.local_path):
-                print(f"Download failed (exit {proc.returncode})")
-                self.load_error = "Download failed"
-                return False
-
-            size_mb = os.path.getsize(self.local_path) / (1024 * 1024)
-            print(f"▶ scp {self.local_path} -> nao@{self.nao_ip}:{self.remote_path} ({size_mb:.1f} MB)")
-            self.progress = 0.0
-            upload_start = time.time()
-            stop_ticker = threading.Event()
-
-            def ticker():
-                while not stop_ticker.is_set():
-                    elapsed = time.time() - upload_start
-                    self.status = f"Uploading to NAO ({size_mb:.1f} MB)... {elapsed:.0f}s"
-                    stop_ticker.wait(1.0)
-
-            t = threading.Thread(target=ticker, daemon=True)
-            t.start()
-            scp_result = subprocess.run(
-                ["sshpass", "-p", "nao", "scp", self.local_path, f"nao@{self.nao_ip}:{self.remote_path}"],
-                capture_output=True, text=True, timeout=60
+            self._ssh_client = paramiko.SSHClient()
+            self._ssh_client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
+            self._ssh_client.connect(self.nao_ip, username=self.ssh_user,
+                                      password=self.ssh_password, timeout=5)
+            self._ssh_channel = self._ssh_client.get_transport().open_session()
+            # A pty ties the remote process group to this channel, so
+            # closing it in close() reliably kills the loop/nc/aplay
+            # instead of leaving an orphaned process on the robot.
+            self._ssh_channel.get_pty()
+            remote_cmd = (
+                f"while true; do nc -l -p {self.port} | "
+                f"aplay -q -r {self.rate} -f S16_LE -c 1 -t raw -; done"
             )
-            stop_ticker.set()
-            t.join(timeout=1.0)
-            print(f"  [scp] exit {scp_result.returncode}" +
-                  (f": {scp_result.stderr.strip()}" if scp_result.stderr.strip() else ""))
-            if scp_result.returncode != 0:
-                print(f"SCP failed: {scp_result.stderr.strip()}")
-                self.load_error = "SCP failed"
-                return False
+            self._ssh_channel.exec_command(remote_cmd)
+            time.sleep(0.4)  # one-time wait for the first nc to bind
+            self.connected = True
+            print("🎙️ Talk relay: remote listener ready")
+        except Exception as e:
+            print(f"🎙️ Talk relay: couldn't set up remote listener ({e})")
+            self.connected = False
 
-            self.current_file = self.remote_path
-            self.status = "Playing"
-            self.progress = 100.0
-            self.current_task_id = self.player.playFile(self.remote_path)
-            self.is_playing = True
-            print(f"♪ Playing on NAO: {title} (task {self.current_task_id})")
-            return True
-        except Exception as e:
-            print(f"Playback error: {e}")
-            self.load_error = str(e)
-            return False
-        finally:
-            self.is_loading = False
+    def close(self):
+        """Tear down the persistent SSH connection/listener. Call once at
+        app shutdown - not per push-to-talk press."""
+        if self._ssh_channel:
+            try: self._ssh_channel.close()
+            except: pass
+            self._ssh_channel = None
+        if self._ssh_client:
+            try: self._ssh_client.close()
+            except: pass
+            self._ssh_client = None
+        self.connected = False
 
-    def pause(self):
-        """Toggle playback. No position tracking: resuming restarts the track from the top."""
-        if self.current_task_id is None or not self.current_file:
-            print("⏸ Nothing loaded to pause/resume")
+    def start(self):
+        if self.active:
             return
-        if self.is_playing:
-            try:
-                self.player.stopAll()
-            except Exception as e:
-                print(f"stopAll error while pausing: {e}")
-                self.load_error = f"Pause error: {e}"
+        if not HAS_AUDIO:
+            print("🎙️ Live mic needs pyaudio installed")
             return
-            self.is_playing = False
-            print("♪ Paused")
-        else:
-            try:
-                self.current_task_id = self.player.playFile(self.current_file)
-                self.is_playing = True
-                print(f"♪ Resumed from start (task {self.current_task_id})")
-            except Exception as e:
-                print(f"Resume error: {e}")
-                self.load_error = f"Resume error: {e}"
+        if not self.connected:
+            print("🎙️ Talk relay: remote listener not ready yet")
+            return
+        # If a previous relay thread is still tearing itself down, wait for
+        # it to finish before reusing self._stream/_sock for a new one.
+        if self._thread and self._thread.is_alive():
+            self._thread.join(timeout=2.0)
+        self.active = True
+        self.state = "connecting"
+        self._thread = threading.Thread(target=self._run, daemon=True)
+        self._thread.start()
 
     def stop(self):
-        try:
-            self.player.stopAll()
-        except Exception as e:
-            print(f"Stop error: {e}")
-        self.is_playing = False
-        self.current_file = None
-        self.current_task_id = None
-        self.current_title = ""
+        """Signal the relay thread to stop and wait for it to exit.
 
+        Deliberately does NOT touch self._stream/_sock here: this is
+        called from the main/render thread on key-up, and closing a
+        PortAudio stream from a different thread while the relay thread is
+        mid blocking-read() on it is what caused the ALSA segfault on
+        release. Only _run() (via _cleanup, in its own thread) closes them.
+        """
+        self.active = False
+        self.state = "idle"
+        if self._thread and self._thread.is_alive() and threading.current_thread() is not self._thread:
+            self._thread.join(timeout=2.0)
+
+    def _cleanup(self):
+        """Per-press teardown: only the local socket/mic stream. The SSH
+        connection is persistent now - close() (at app shutdown) is what
+        tears that down, not this."""
+        if self._sock:
+            try: self._sock.close()
+            except: pass
+            self._sock = None
+        if self._stream:
+            try:
+                self._stream.stop_stream()
+                self._stream.close()
+            except: pass
+            self._stream = None
+
+    def _run(self):
+        try:
+            # Remote listener is already up (from connect()) - just make a
+            # fast local socket connection, no SSH handshake here.
+            self._sock = socket.create_connection((self.nao_ip, self.port), timeout=5)
+
+            self._stream = self._p.open(format=pyaudio.paInt16, channels=1,
+                                         rate=self.rate, input=True,
+                                         input_device_index=self.input_device_index,
+                                         frames_per_buffer=1024)
+            print("🎙️ Talk relay: live")
+            if self.active:  # could've been stopped while we were still connecting
+                self.state = "live"
+
+            while self.active:
+                try:
+                    chunk = self._stream.read(1024, exception_on_overflow=False)
+                    self._sock.sendall(chunk)
+                except Exception:
+                    break
+        except Exception as e:
+            print(f"🎙️ Talk relay error: {e}")
+        finally:
+            self.active = False
+            self.state = "idle"
+            self._cleanup()
+            print("🎙️ Talk relay: stopped")
 
 # ==========================================
 # MAIN TELEOP
 # ==========================================
 class NaoTeleop:
-    def __init__(self, session, nao_ip, audio_device_index=None, mic_channel=1, mic_gain=8.0, video_scale=2.0):
+    def __init__(self, session, nao_ip, audio_device_index=None, mic_channel=1, mic_gain=8.0, video_scale=2.0,
+                 nao_ssh_user="nao", nao_ssh_password="nao", relay_port=5555, relay_rate=16000):
         self.session = session
         self.nao_ip = nao_ip
         self.motion = session.service("ALMotion")
@@ -319,12 +332,22 @@ class NaoTeleop:
         self.mic_channel = mic_channel
         self.mic_gain = mic_gain
 
+        # One shared PyAudio context for the whole app - SoundReceiver (mic
+        # playback) and LiveMicRelay (push-to-talk capture) both use it,
+        # since two separate contexts crash PortAudio's PulseAudio backend.
+        self._pyaudio = pyaudio.PyAudio() if HAS_AUDIO else None
+
+        self.mic_relay = LiveMicRelay(nao_ip, ssh_user=nao_ssh_user, ssh_password=nao_ssh_password,
+                                       port=relay_port, rate=relay_rate, pyaudio_instance=self._pyaudio)
+        self.ptt_active = False
+
         self.running = True
         self.head_yaw = 0.0
         self.head_pitch = 0.0
         self.battery_level = 100
         self.last_batt_check = 0
         self.volume = 50
+        self.walk_speed = 0.6
 
         self.typing_mode = False
         self.chat_message = ""
@@ -349,7 +372,6 @@ class NaoTeleop:
         self.update_title()
 
     def _safe(self, label, fn):
-        """Run fn(), log+swallow any exception so one failure can't crash the loop."""
         try:
             return fn()
         except Exception as e:
@@ -377,7 +399,8 @@ class NaoTeleop:
     def _init_mic_stream(self):
         if not self.audio_device: return
         try:
-            self.sound_receiver = SoundReceiver(self.audio_device_index, self.mic_gain)
+            self.sound_receiver = SoundReceiver(self.audio_device_index, self.mic_gain,
+                                                 pyaudio_instance=self._pyaudio)
             self.session.registerService(self.audio_service_name, self.sound_receiver)
             time.sleep(0.5)
             self.audio_device.setClientPreferences(self.audio_service_name, 16000, self.mic_channel, 0)
@@ -412,10 +435,84 @@ 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}")
 
+    def cena_gesture(self):
+        if self.typing_mode: return
+        print("👋 YOU CAN'T SEE ME!")
+        try:
+            self.tts.say("You can't see me")
+            
+            self.motion.setStiffnesses("RArm", 1.0)
+            names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
+            
+            # 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)
+            
+            # 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)
+            
+            # Return to neutral
+            neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
+            self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)
+            # Relaxed stiffness after completion
+            self.motion.setStiffnesses("RArm", 0.3)
+        except Exception as e:
+            print(f"Cena gesture error: {e}")
+
+    def six_seven_gesture(self):
+        if self.typing_mode: return
+        print("🖐️ SIX... SEVEN...")
+        try:
+            threading.Thread(target=self.tts.say, args=("six seven",), daemon=True).start()
+
+            self.motion.setStiffnesses(["RArm", "LArm"], 1.0)
+
+            # Lock both arms up in front of the body, hands held out like a scale.
+            # ElbowYaw is rotated ~90° off zero here - that's what points the elbow's
+            # bend axis so flexing tips the forearm forward/down instead of curling
+            # it in across the chest. These joints don't move again until the return.
+            hold_names = [
+                "RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RWristYaw", "RHand",
+                "LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LWristYaw", "LHand"
+            ]
+            hold_angles = [
+                0.2, -0.2, 1.4, 1.57, 0.6,
+                0.2, 0.2, -1.4, -1.57, 0.6
+            ]
+            self.motion.angleInterpolationWithSpeed(hold_names, hold_angles, 0.25)
+
+            # Only the elbows seesaw now - a small tip back and forth, one arm
+            # rising while the other falls, like weighing something in each hand
+            # ("six... seven..."). Small amplitude so it stays a wobble, not a fold.
+            elbow_names = ["RElbowRoll", "LElbowRoll"]
+            r_low, r_high = 0.6, 1.0
+            l_low, l_high = -0.6, -1.0
+
+            elbow_angles = [
+                [r_low, r_high, r_low, r_high, r_low, r_high],
+                [l_high, l_low, l_high, l_low, l_high, l_low],
+            ]
+            times = [[0.35, 0.7, 1.05, 1.4, 1.75, 2.1]] * 2
+            self.motion.angleInterpolation(elbow_names, elbow_angles, times, True)
+
+            # Return everything to neutral
+            neutral_names = hold_names + elbow_names
+            neutral = [1.5, -0.15, 1.2, 0.0, 0.0,
+                       1.5, 0.15, -1.2, 0.0, 0.0,
+                       0.5, -0.5]
+            self.motion.angleInterpolationWithSpeed(neutral_names, neutral, 0.3)
+            # Relaxed stiffness after completion
+            self.motion.setStiffnesses(["RArm", "LArm"], 0.3)
+        except Exception as e:
+            print(f"Six seven gesture error: {e}")
+
     def handle_head_movement(self):
         if self.typing_mode or self.music_search_mode: return
         keys = pygame.key.get_pressed()
@@ -436,7 +533,7 @@ class NaoTeleop:
 
     def update_title(self):
         mode = "[TYPING] " if self.typing_mode else ""
-        pygame.display.set_caption(f"NAO Teleop | {mode}Battery: {self.battery_level}% | Vol: {self.volume}%")
+        pygame.display.set_caption(f"NAO Teleop | {mode}Battery: {self.battery_level}% | Vol: {self.volume}% | Speed: {self.walk_speed:.2f}")
 
     def change_volume(self, delta):
         self.volume = int(min(100, max(0, self.volume + delta)))
@@ -456,18 +553,24 @@ class NaoTeleop:
             self.last_batt_check = now
 
     def run(self):
-        self.motion.wakeUp()
-        self.posture.goToPosture("StandInit", 0.5)
-        time.sleep(1.0)
+        print("🤖 Enabling stiffness (no wakeUp stand-up)...")
+        self.motion.setStiffnesses("Body", 1.0)
+        
+        # Enable walk arms BEFORE forcing stiffness
+        print("💪 Enabling walk arms...")
         self.motion.setMoveArmsEnabled(True, True)
         
+        # 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")
 
-        carpet_config = [["StepHeight", 0.028], ["MaxStepFrequency", 0.6], ["TorsoWy", 0.05]]
+        if getattr(self, "mic_relay", None):
+            threading.Thread(target=self.mic_relay.connect, daemon=True).start()
 
-        print("\n🎮 Controls: WASD/Arrows=Walk | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search (↑↓ select, Enter confirm) | P=Pause | X=Stop | -/==Volume | T=TTS | ESC=Quit")
+        print("\n🎮 Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | 2=Cena | 3=6-7 | M=Music search | X=Stop | -/==Volume | T=TTS | V=Push-to-talk (hold) | ESC=Quit")
 
         try:
             while self.running:
@@ -545,14 +648,16 @@ class NaoTeleop:
                                     self.running = False
                                 elif event.key == pygame.K_1:
                                     self.wave_gesture()
+                                elif event.key == pygame.K_2:
+                                    self.cena_gesture()
+                                elif event.key == pygame.K_3:
+                                    self.six_seven_gesture()
                                 elif event.key == pygame.K_SPACE:
                                     self.reset_head()
                                 elif event.key == pygame.K_m:
                                     self.music_search_mode = True
                                     self.music_search_text = ""
                                     self.music_results = []
-                                elif event.key == pygame.K_p:
-                                    self.music.pause()
                                 elif event.key == pygame.K_x:
                                     self.music.stop()
                                 elif event.key in (pygame.K_MINUS, pygame.K_KP_MINUS):
@@ -565,15 +670,43 @@ class NaoTeleop:
 
                     if not self.typing_mode and not self.music_search_mode:
                         keys = pygame.key.get_pressed()
+
+                        if keys[pygame.K_v] and not self.ptt_active:
+                            self.ptt_active = True
+                            self.mic_relay.start()
+                            if getattr(self, "sound_receiver", None):
+                                self.sound_receiver.muted = True
+                        elif not keys[pygame.K_v] and self.ptt_active:
+                            self.ptt_active = False
+                            self.mic_relay.stop()
+                            if getattr(self, "sound_receiver", None):
+                                self.sound_receiver.muted = False
+
+                        speed_changed = False
+                        if keys[pygame.K_LEFTBRACKET]: 
+                            self.walk_speed = max(0.1, self.walk_speed - 0.01)
+                            speed_changed = True
+                        if keys[pygame.K_RIGHTBRACKET]: 
+                            self.walk_speed = min(1.0, self.walk_speed + 0.01)
+                            speed_changed = True
+                        if speed_changed:
+                            self.update_title()
+
                         x = y = theta = 0.0
-                        if keys[pygame.K_w] or keys[pygame.K_UP]: x = 0.6
-                        if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -0.6
-                        if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = 0.5
-                        if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.5
+                        if keys[pygame.K_w] or keys[pygame.K_UP]: x = self.walk_speed
+                        if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -self.walk_speed
+                        if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = self.walk_speed * 0.8
+                        if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -self.walk_speed * 0.8
 
                         try:
-                            if abs(x) > 0.1 or abs(theta) > 0.1:
-                                self.motion.moveToward(x, y, theta, carpet_config)
+                            if abs(x) > 0.05 or abs(theta) > 0.05:
+                                stable_config = [
+                                    ["StepHeight", 0.02],      
+                                    ["MaxStepFrequency", 0.5], 
+                                    ["TorsoWy", 0.08],         
+                                    ["MaxStepX", 0.03]    
+                                ]
+                                self.motion.moveToward(x, y, theta, stable_config)
                             else:
                                 self.motion.stopMove()
                         except Exception as e:
@@ -602,10 +735,37 @@ class NaoTeleop:
                         text = self.font.render(f"♪ Error: {self.music.load_error}", True, (255, 80, 80))
                         self.screen.blit(text, (10, 10))
                     elif self.music.current_title:
-                        status = f"♪ {self.music.current_title[:45]} {'(Paused)' if not self.music.is_playing else ''}"
-                        text = self.font.render(status, True, (0, 255, 100))
+                        text = self.font.render(f"♪ {self.music.current_title[:45]}", True, (0, 255, 100))
                         self.screen.blit(text, (10, 10))
 
+                    # Voice chat HUD (top-right) - only shown while V is held / connecting
+                    relay_state = getattr(self.mic_relay, "state", "idle")
+                    if relay_state == "connecting":
+                        label, color = "VOICE: CONNECTING...", (255, 200, 0)
+                    elif relay_state == "live":
+                        label, color = "VOICE: LIVE - speak now", (0, 255, 100)
+                    else:
+                        label, color = None, None
+
+                    if label:
+                        text = self.font.render(label, True, color)
+                        pad = 8
+                        box_w, box_h = text.get_width() + pad * 2 + 18, text.get_height() + pad
+                        box_x = self.display_width - box_w - 10
+                        box_y = 10
+                        s = pygame.Surface((box_w, box_h))
+                        s.set_alpha(180)
+                        s.fill((0, 0, 0))
+                        self.screen.blit(s, (box_x, box_y))
+                        # pulsing dot for "live" so it's easy to catch out of the corner of your eye
+                        if relay_state == "live":
+                            pulse = 0.5 + 0.5 * abs((pygame.time.get_ticks() % 1000) / 500.0 - 1.0)
+                            dot_color = tuple(int(c * pulse) for c in color)
+                        else:
+                            dot_color = color
+                        pygame.draw.circle(self.screen, dot_color, (box_x + pad + 5, box_y + box_h // 2), 5)
+                        self.screen.blit(text, (box_x + pad + 18, box_y + pad // 2))
+
                     # Music search interface
                     if self.music_search_mode:
                         box_h = min(self.display_height - 80, 260)
@@ -654,12 +814,17 @@ class NaoTeleop:
             print("🛑 Shutting down...")
             self._safe("stopMove", self.motion.stopMove)
             self._safe("music stop", self.music.stop)
+            if getattr(self, "mic_relay", None):
+                self._safe("mic relay stop", self.mic_relay.stop)
+                self._safe("mic relay close", self.mic_relay.close)
             if self.audio_device:
                 self._safe("audio unsubscribe", lambda: self.audio_device.unsubscribe(self.audio_service_name))
             if getattr(self, "sound_receiver", None):
                 self._safe("sound receiver close", self.sound_receiver.close)
             if hasattr(self, 'video') and self.video_client:
                 self._safe("video unsubscribe", lambda: self.video.unsubscribe(self.video_client))
+            if getattr(self, "_pyaudio", None):
+                self._safe("pyaudio terminate", self._pyaudio.terminate)
             self._safe("rest", self.motion.rest)
             pygame.quit()
 
@@ -674,6 +839,14 @@ if __name__ == "__main__":
     parser.add_argument("--mic-channel", choices=MIC_CHANNELS.keys(), default="left")
     parser.add_argument("--mic-gain", type=float, default=8.0)
     parser.add_argument("--video-scale", type=float, default=2.0)
+    parser.add_argument("--nao-ssh-user", type=str, default="nao",
+                         help="SSH login for the live mic relay (push-to-talk)")
+    parser.add_argument("--nao-ssh-password", type=str, default="nao",
+                         help="SSH password for the live mic relay (push-to-talk)")
+    parser.add_argument("--relay-port", type=int, default=5555,
+                         help="TCP port used to stream mic audio to the robot's nc listener")
+    parser.add_argument("--relay-rate", type=int, default=16000,
+                         help="Sample rate for the live mic relay - try 48000 if audio sounds sped up/slow")
     args = parser.parse_args()
 
     session = qi.Session()
@@ -688,4 +861,8 @@ if __name__ == "__main__":
               audio_device_index=args.audio_device_index,
               mic_channel=MIC_CHANNELS[args.mic_channel],
               mic_gain=args.mic_gain,
-              video_scale=args.video_scale).run()
+              video_scale=args.video_scale,
+              nao_ssh_user=args.nao_ssh_user,
+              nao_ssh_password=args.nao_ssh_password,
+              relay_port=args.relay_port,
+              relay_rate=args.relay_rate).run()

start.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+pactl set-source-volume alsa_input.pci-0000_00_1b.0.analog-stereo 32%
+python3.11 naowalk.py --ip spike.local --port 9561 --mic-gain 9 --video-scale 3.0