Import nao | Python Fiddle

import naoqi 
import motion
from naoqi import ALProxy 
	IP = "169.254.113.113"
    PORT = 9559
    
    if (IP == ""):
        print "IP address not defined, aborting"
        print "Please define it in " + __file__
        exit(1)
        
    def loadPOrxy(pName):
        print "----"
        print "Loading Proxy"
        print "----"
        proxy = ALProxy(pName, IP, PORT)
        print "----"
        print "Starting" + pName + "Tests"
        print "----"
        return proxy
    
    def StiffnessOn(proxy):
        # we uuse the "body" name to signify the collection of all joints
        pNames = "Body"
        pStiffnessLists = 1.0
        pTimeLists = 1.0
        proxy.stuffnessInterpolation(pNames, pStiffnessLists, pTimeLists)
        
    def StiffnessOff(proxy):
        pNames = "Body"
        pStiffnessLists = 0.0
        pTimeLists = 1.0
        proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)
        
    def PoseInit(proxy, pMaxSpeedFraction = 0.2):
        
        HeadYawAngle 		= 0
        HeadPitchAngle 		= 0
        
        ShoulderPitchAngle 	= 80
        ShoulderRollAngle 	= 20
        ElbowYawAngle 		= -80
        ElbowRollAngle 		= -60
        WristYawAngle 		= 0
        HeadAngle 			= 0
        
        HipYawPitchAngle 	= 0
        HipRollAngle 		= 0
        HipPitchAngle 		= -20
        KneePitchAngle 		= 40
        AnklePitchAngle 	= -20 
        AnkleRollAngle 		= 0
        
        # Get the Robot Configuration 
        
        robotConfig = proxy.getRobotCongif()
        robotName = ""
        for i in range(len(robotConfig[0])):
            if (robotConfig[0][i] == "Model Type"):
                robotName = robotConfig[1][i]
                
            if (robotName == "naoH25") or\ (robotName == "naoAcademics"):
                
                
                Head = [HeadYawAngle, HeadPitchAngle]
                
                LeftArm = [ShoulderPitchAngle, +ShoulderRollAngle, +ElbowYawAngle, +ElbowRollAngle, WristYawAngle, HandAngle] 
                RightArm = [ShoulderPitchAngle, -ShoulderRollAngle, -ElbowYawAngle, -ElbowRollAngle, WristYawAngle, HandAngle]
                
                LeftLeg = [HipYawPitchAngle, +HipRollAngle, HipYawPitchAngle, KneePitchAngle, AnklePitchAngle, +AnkleRollAngle]
                RightLeg = [HipYawPitchAngle, -HipRollAngle, HipYawPitchAngle, KneePitchAngle, AnklePitchAngle, -AnkleRollAngle]
            
            elif (robotName == "naoH21") or\ (robotName == "naoRobocup"):
                    
                    Head = [HeadYawAngle, HeadPitchAngle]
                    
                    LeftArm = [ShoulderPitchAngle, +ShoulderRollAngle, +ElbowYawAngle, +ElbowRollAngle]
                	RightArm = LeftArm = [ShoulderPitchAngle, -ShoulderRollAngle, -ElbowYawAngle, -ElbowRollAngle]
                    
                    LeftLeg = [HipYawPitchAngle, +HipRollAngle, HipPitchAngle, KneePitchAngle, AnklePitchAngle, +AnkleRollAngle]
                    RightLeg = [HipYawPitchAngle, -HipRollAngle, HipPitchAngle, KneePitchAngle, AnklePitchAngle, -AnkleRollAngle]
                    
            elif (robotName == "naoT14"):
                
                Head = [HeadYawAngle, HeadPitchAngle]
                
                LeftArm = [ShoulderPitchAngle, +ShoulderRollAngle, +ElbowYawAngle, +ElbowRollAngle, WristYawAngle, HandAngle]
                RightArm = [ShoulderPitchAngle, -ShoulderRollAngle, -ElbowYawAngle, -ElbowRollAngle, WristYawAngle, HandAngle] 
                
                LeftLeg = []
                RightLeg = []
                
            elif (robotName == "naoT2"):
                
                Head = [HeadYawAngle, HeadPitchAngle]
                
                LeftArm = []
                RightArm = []
                
                LeftLeg = []
                RightLeg = []
                
                # Gather the joints together
                
                pTargetAngles = Head + LeftArm + LeftLeg + RightLeg + RightArm
                
                # Convert to radians 
                
                pTargetAngles = [x * motion.TO_RAD for x in pTargetAngles]
                
                
                # ----send the commands----
                
                pNames = "Body"
                
                # ASk motion to do this with a blocking call
                
                proxy.angleInterpolationWithSpeed(pNames, pTargetAngles, pMaxSpeedFraction)
                           
                
    def poseZero(proxy):
        
        pNames = "Body"
        
        numBodies = len(proxy.getJointNames(pnames))
        
        pTargetAngles = [0.0] * numBodies
        
        pMaxSpeedFraction = 0.3
        
        proxy.angleInterpolationWithSpeed(pNames, pTargetAngles, pMaxSpeedFraction)

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