import bpy, math

CYCLES      = 3 # how many times to bob
SPEED       = 25 # how many frames between keyframes (higher is slower)
LOC_AMOUNT  = 0.9 # in blender units, so numbers are generally small
LOC_MATRIX  = (0, 0, 1)
ROT_AMOUNT  = 0.3 # in radians
ROT_MATRIX  = (0, 1, 0) # x, y, z axis (type in values less than one to get small rotations along an axis)
PHASE_SHIFT = 0.5 #phase shifting the rotation

def tup_mult(coefficient, matrix):
    new_matrix = []
    for i in matrix:
        new_matrix.append(i*coefficient)
    return tuple(new_matrix)

def tup_add(tup1, tup2):
    return tuple(map(sum, zip(tup1, tup2)))

cf = bpy.context.scene.frame_current

ob = bpy.context.active_object

loc = ob.location[:]

ob.location = tup_add(loc, tup_mult(-5, LOC_MATRIX))
bpy.ops.anim.keyframe_insert_menu(type='Location')
bpy.ops.transform.rotate(value=(ROT_AMOUNT*0.5), axis=ROT_MATRIX)
bpy.ops.anim.keyframe_insert_menu(type='Rotation', confirm_success = True)

bpy.context.scene.frame_set(cf + ((CYCLES+0.5)*2*SPEED))
ob.location = tup_add(loc, tup_mult(5, LOC_MATRIX))
bpy.ops.anim.keyframe_insert_menu(type='Location', confirm_success = True)
bpy.ops.transform.rotate(value=(-ROT_AMOUNT), axis=ROT_MATRIX)
bpy.ops.anim.keyframe_insert_menu(type='Rotation', confirm_success = True)

for i in range(CYCLES):
    cf += SPEED
    bpy.context.scene.frame_set(cf)
    ob.location = tup_add(loc, tup_mult(LOC_AMOUNT*0.5, LOC_MATRIX))
    bpy.ops.anim.keyframe_insert_menu(type='Location', confirm_success = True)
    bpy.context.scene.frame_set(cf+int(SPEED*PHASE_SHIFT))
    bpy.ops.transform.rotate(value=(ROT_AMOUNT*-1), axis=ROT_MATRIX)
    bpy.ops.anim.keyframe_insert_menu(type='Rotation', confirm_success = True)
    cf += SPEED
    bpy.context.scene.frame_set(cf)
    ob.location = tup_add(loc, tup_mult(LOC_AMOUNT*-0.5, LOC_MATRIX))
    bpy.ops.anim.keyframe_insert_menu(type='Location', confirm_success = True)
    bpy.context.scene.frame_set(cf+int(SPEED*PHASE_SHIFT))
    bpy.ops.transform.rotate(value=(ROT_AMOUNT*1), axis=ROT_MATRIX)
    bpy.ops.anim.keyframe_insert_menu(type='Rotation', confirm_success = True)