text: __author__ = 'Aravinth Panchadcharam'
  __email__ = "me@aravinth.info"
  __project__ = 'Gesture Recognition For Human-Robot Interaction'
  __date__ = '09/06/15'
  
  from naoqi import ALProxy
  
  
  class RobotAngle():
      def __init__(self, host_name, port):
          self.motionProxy = ALProxy("ALMotion", host_name, port)
  
          self.head_joints = ["HeadPitch", "HeadYaw"]
          self.hand_joints = ["LShoulderRoll", "LShoulderPitch", "LElbowRoll", "LElbowYaw", "RShoulderRoll",
                              "RShoulderPitch",
                              "RElbowRoll",
                              "RElbowYaw"]
  
      def get_head_angles(self):
          sensor_angles = self.motionProxy.getAngles(self.head_joints, True)
          print "Head Pitch and Yaw:"
          print str(sensor_angles)
  
      def get_hand_angles(self):
          sensor_angles = self.motionProxy.getAngles(self.hand_joints, True)
          print "Shoulder and Elbow:"
          print str(sensor_angles)
  
  
  if __name__ == "__main__":
      robotAngle = RobotAngle("nao5.local", 9559)
      robotAngle.get_hand_angles()
  