nao_hand_thread.py

import sys
from naoqi import ALProxy
import time
from threading import Thread
EPSILON = 1e-1

def hand_movement(motionProxy, close=False):
    if close:
        motionProxy.closeHand("LHand")
    else:
        motionProxy.openHand("LHand")

def move_joints(motionProxy, joints, positions, fractionMaxSpeed):
    motionProxy.setAngles(joints, positions, fractionMaxSpeed)
 
def main(robotIP):
    PORT = 9559
 
    try:
        motionProxy = ALProxy("ALMotion", robotIP, PORT)
    except Exception:
        print ("Could not create proxy to ALMotion")
        sys.exit(1)
  
    motionProxy.wakeUp()
    joints = [
        'LShoulderPitch',
        'LWristYaw',
    ]

    positions = [
        0.3,
        1.0,
    ]
    fractionMaxSpeed = 0.3
 
    motion_duration = 5
    open_thread = Thread(target=hand_movement, args=[motionProxy])
    close_thread = Thread(target=hand_movement, args=[motionProxy, True])

    open_thread.daemon = True
    close_thread.daemon = True

    start = time.time()
    
    open_thread.start()
    while motion_duration - (time.time() - start) >= EPSILON:
        motionProxy.setAngles(joints, positions, fractionMaxSpeed)
    close_thread.start()

    print('Movement Finished')
    motionProxy.rest()

    close_thread.join()
    open_thread.join()
 
if __name__ == "__main__":
    robotIp = "127.0.0.1"
 
    if len(sys.argv) <= 1:
        print ("Usage python almotion_setangles.py robotIP (optional default: 127.0.0.1)")
    else:
        robotIp = sys.argv[1]
 
    main(robotIp)