from naoqi import ALProxy

IP = "127.0.0.1" # set your Ip adress here
PORT = 9559

# ====================
# Create proxy to ALMemory
memoryProxy = ALProxy("ALMemory", IP, PORT)

# Get the Gyrometers Values
GyrX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/GyrX/Sensor/Value")
GyrY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/GyrY/Sensor/Value")
print ("Gyrometers value X: %.3f, Y: %.3f" % (GyrX, GyrY))

# Get the Accelerometers Values
AccX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AccX/Sensor/Value")
AccY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AccY/Sensor/Value")
AccZ = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AccZ/Sensor/Value")
print ("Accelerometers value X: %.3f, Y: %.3f, Z: %.3f" % (AccX, AccY,AccZ))

# Get the Compute Torso Angle in radian
TorsoAngleX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value")
TorsoAngleY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value")
print ("Torso Angles [radian] X: %.3f, Y: %.3f" % (TorsoAngleX, TorsoAngleY))