Can't move arm joints on the NAO

user_10553465 0
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I am using NAOqi with Python to program my NAO robot. When I copy the code from the Python file here it works fine. I adjusted it to my variables like this:

nav.setStiffnesses("Head", 1.0)

names  = ["HeadYaw", "HeadPitch"]
angles  = [0.2, -0.2]
fractionMaxSpeed  = 0.2
nav.setAngles(names, angles, fractionMaxSpeed)

time.sleep(3.0)
nav.setStiffnesses("Head", 0.0)

but when I change it to use the arm joints it doesn't work:

nav.setStiffnesses("RArm", 1.0)

names  = ["RShoulderPitch"]
angles  = [0]
fractionMaxSpeed  = 1
nav.setAngles(names, angles, fractionMaxSpeed)

sleep(3.0)
nav.setStiffnesses("RArm", 0.0)

After during the code the arm is stiff and when it is done running it becomes limp but it doesn't move at all (I have tried different fractionMaxSpeeds).

I got all the joint angles and joint names from here.

nao-robot python-2.7 python
1 Answers

In your code, after 3 seconds, you reset the stiffness to zero:

nav.setStiffnesses("RArm", 0.0)

Remove that line and the arm will remain stiff after running the code.

user_38365620
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