# -*- encoding: UTF-8 -*-

import time
import argparse
from naoqi import ALProxy

def main(robotIP, PORT = 9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    motionProxy.setStiffnesses("Head", 1.0)

    # Example showing a slow, relative move of "HeadYaw".
    # Calling this multiple times will move the head further.
    names            = "HeadYaw"
    changes          = 0.5
    fractionMaxSpeed = 0.05
    motionProxy.changeAngles(names, changes, fractionMaxSpeed)

    time.sleep(2.0)

    motionProxy.setStiffnesses("Head", 0.0)


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot ip address")
    parser.add_argument("--port", type=int, default=9559,
                        help="Robot port number")

    args = parser.parse_args()
    main(args.ip, args.port)