import sys
from naoqi import ALProxy

if (len(sys.argv) < 2):
    print "Usage: 'python motion_setangles.py IP [PORT]'"
    sys.exit(1)

IP = sys.argv[1]
PORT = 9559
if (len(sys.argv) > 2):
    PORT = sys.argv[2]
try:
    proxy = ALProxy("ALMotion", IP, PORT)
except Exception,e:
    print "Could not create proxy to ALMotion"
    print "Error was: ",e
    sys.exit(1)
    
proxy.setStiffnesses("Head", 0.1)

# Example showing how to set angles, using a fraction of max speed
names  = ['HeadYaw', 'HeadPitch']
angles  = [0.2, -0.2]
fractionMaxSpeed  = 0.2
proxy.setAngles(names, angles, fractionMaxSpeed)