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

import math
import argparse
from naoqi import ALProxy

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

    # Wake up robot
    motionProxy.wakeUp()

    # Send robot to Pose Init
    postureProxy.goToPosture("StandInit", 0.5)

    # Example showing the moveTo command
    # The units for this command are meters and radians
    x  = 0.2
    y  = 0.2
    theta  = math.pi/2
    motionProxy.moveTo(x, y, theta)
    # Will block until move Task is finished

    ########
    # NOTE #
    ########
    # If moveTo() method does nothing on the robot,
    # read the section about walk protection in the
    # Locomotion control overview page.

    # Go to rest position
    motionProxy.rest()

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)