Page Comparison

Animations

These actions currently only work on Nao/Pepper robots. Use the computer-robot JAR to emulate the expected responses to these actions locally if needed.

disableBreathing(BodyPart)

Stops breathing animations on a chain: [Body, Legs, Arms, LArm, RArm or Head].

A BreathingDisabled event will be sent when this is done.

Example: disableBreathing('Body').

enableBreathing(BodyPart)

Starts breathing animations on a chain: [Body, Legs, Arms, LArm, RArm or Head].

A BreathingEnabled event will be sent when this is done.

Example: enableBreathing('Arms').

gesture(Animation)

Performs the given animation. See http://doc.aldebaran.com/2-5/naoqi/motion/alanimationplayer-advanced.html for the available animations per robot.

A GestureStarted and GestureDone event will be sent before the animation plays and after it finishes respectively.

Example: gesture('animations/Stand/Gestures/Hey_1').

goToPosture(Posture,Speed=100)

Make the robot go the given posture at the given speed (0-100; default when it's left out is 100% speed). See http://doc.aldebaran.com/2-5/family/pepper_technical/postures_pep.html#pepper-postures and http://doc.aldebaran.com/2-8/family/nao_technical/postures_naov6.html#naov6-postures for the available postures on Peppers and Naos respectively.

A posture percept will be sent reflecting any change in posture.

Example: goToPosture('Stand', 50).

playMotion(RecordedMotion)

See the startMotionRecording action for more information; the data that comes out of such a recording can be fed into this action.

A PlayMotionStarted and PlayMotionDone event will be sent before the recording is performed and after it has finished respectively.

playMotionFile(Path,Emotion='')

Plays the XML-file at the given path (e.g. from Choregraphe), with optionally an emotion that will be used to modify the given animation.

The emotion can be one of: [fear, mad, supersad, alarmed, tense, afraid, angry, annoyed, distressed, frustrated, miserable, sad, gloomy, depressed, bored, droopy, tired, sleepy, aroused, astonished, excited, delighted, happy, pleased, glad, serene, content, atease, satisfied, relaxed, calm].

A PlayMotionStarted and PlayMotionDone event will be sent before the recording is performed and after it has finished respectively.

Example: playMotionFile('Animation.xml', 'happy').

rest

Make the robot go into rest mode. This is the inverse of the wakeUp action.

An isAwake percept will be sent reflecting any change in the state of the robot.

setEarColour(Colour)

Set the colour of the robot's ear LEDs. The Colour can be either a predefined single colour (white, red, green, blue, yellow, magenta, or cyan), a predefined combination (rainbow or greenyellow), or an RGB-colour given in hexadecimal: 0x00RRGGBB. On the Pepper, the ear LEDs can only be various shades of blue.

An EarColourStarted and EarColourDone event will be sent before the ear LEDs change colour and after they have changed colour respectively.

Example: setEarColour('0x0000000A').

setEyeColour(Colour)

Set the colour of the robot's eye LEDs. The Colour can be either a predefined single colour (white, red, green, blue, yellow, magenta, or cyan), a predefined combination (rainbow or greenyellow), or an RGB-colour given in hexadecimal: 0x00RRGGBB.

An EyeColourStarted and EyeColourDone event will be sent before the eye LEDs change colour and after they have changed colour respectively.

Example: setEyeColour('rainbow').

setHeadColour(Colour)

Set the colour of the robot's LEDs on the top of its head. This is only possible on the Nao. The Colour can be either a predefined single colour (white, red, green, blue, yellow, magenta, or cyan), a predefined combination (rainbow or greenyellow), or an RGB-colour given in hexadecimal: 0x00RRGGBB.

A HeadColourStarted and HeadColourDone event will be sent before the head LEDs change colour and after they have changed colour respectively.

Example: setHeadColour('red').

setIdle(Mode)

Set the 'idle' mode of the robot. This can be either 'true' (look straight ahead but slightly upwards) or 'straight' (look exactly straight ahead).

A SetIdle event will be sent when the robot went into an idle mode ('true' or 'straight').

Example: setIdle('true').

setNonIdle

Disable the 'idle' mode of the robot. This means its head will move in the robot's autonomous mode, which is the default behaviour. 

A SetNonIdle event will be sent when the robot is back into autonomous head movement.

setStiffness(JointList,Stiffness,Duration=1000)

Sets the stiffness of one or more of the robot's joints ([Head, RArm, LArm, RLeg, LLeg] on the Nao and [Head, RArm, LArm, Leg, Wheels] on the Pepper). The stiffness can be between 0 and 100 (i.e. 0% to 100%), and the duration of the change is given in milliseconds (1000ms, i.e. 1 second by default if left out).

Anstiffness percept will be sent reflecting any change in the stiffness of the robot.

Example: setStiffness(['LArm', 'RArmsetLedColor(LedList,ColorList,Duration=0)

Sets the given list of LEDs to the given colours in the given duration (in milliseconds, the default of 0 means instantly).

A LedColorStarted and LedColorDone event will be sent when the color change has started and after it's done respectively.

Example: setLedColor(['LeftFaceLeds','RightFaceLeds'],['yellow','orange']).

setNonIdle

Disable the 'idle' mode of the robot. This means its head will move in the robot's autonomous mode, which is the default behaviour. 

A SetNonIdle event will be sent when the robot is back into autonomous head movement.

setStiffness(JointList,Stiffness,Duration=1000)

Sets the stiffness of one or more of the robot's joints ([Head, RArm, LArm, RLeg, LLeg] on the Nao and [Head, RArm, LArm, Leg, Wheels] on the Pepper). The stiffness can be between 0 and 100 (i.e. 0% to 100%), and the duration of the change is given in milliseconds (1000ms, i.e. 1 second by default if left out).

A SetStiffnessStarted and SetStiffnessDone event will be sent when the robot starts changing the stiffness and after it's done respectively.

Example: setStiffness(['LArm', 'RArm'], 100).

startLedAnimation(LedGroup,AnimType,ColorList,Speed)

On the given group of LEDs ([eyes, chest, feet, all]), starts an animation of the given type ([rotate, blink, alternate]) using the given colors at the given speed (in milliseconds).

A LedAnimationStarted and LedAnimationDone event will be sent when the animation has started and after it's done respectively.

Example: startLedAnimation('eyes', 'blink', ['red', 'blue'], 100).

startMotionRecording(JointList,Framerate=5)

Start recording the robot's motion on the given joints or joint chains. See http://doc.aldebaran.com/2-8/family/nao_technical/bodyparts_naov6.html#nao-chains for the Nao and http://doc.aldebaran.com/2-5/family/pepper_technical/bodyparts_pep.html for the Pepper. The position of each joint will be recorded the given number of times per second (5 times per second by default if left out).

A RecordMotionStarted event will be sent once the motion recording starts.

Example: startMotionRecording(['Head']).

stopLedAnimation

Cancels any ongoing LED animation.

stopMotionRecording

Stops any ongoing motion recording. A robot_motion_recording percept will be sent as a result.

turnLeft(Small=false)

Make the robot turn to the left. Optionally, if the parameter is set to 'true', this will be a small turn.

A TurnStarted and TurnDone event will be sent when the robot starts turning and after it's done respectively.

turnRight(Small=false)

Make the robot turn to the right. Optionally, if the parameter is set to 'true', this will be a small turn.

A TurnStarted and TurnDone event will be sent when the robot starts turning and after it's done respectively.

wakeUp

Get the robot out of rest mode. This is the inverse of the rest action.

An isAwake percept will be sent reflecting any change in the state of the robot.

Audiovisual

These action work on any supported audio device (a robot, laptop, tablet, etc.)

clearLoadedAudio

Clear any audio that was preloaded on an audio device (using the loadAudio action).

A ClearLoadedAudioDone event will be sent once this has completed.

disableRecording

Prevent the Dialogflow service from sending the audio it processes to the client (which is not done by default; see enableRecording).

enableRecording

Make the Dialogflow service send the audio of each fragment to the client (see the audioRecording percept as well). The audio is normalised to make it more suitable for playback.

loadAudio(Path)

Preload the given audio file (which can be either a local file or a remote url) on the audio device. This prevents the audio device from having to download the file when calling playAudio.

The result (once the audio file is preloaded) is a loadedAudioID percept, which gives you an identifier to use in the playLoadedAudio action.

Example: loadAudio('12-00-00.wav').

playAudio(Path)

Directly play the given audio file (which can be either a local file or a remote url) on the audio device.

A PlayAudioStarted and PlayAudioDone event will be sent when the audio starts playing (i.e. after it has been loaded on the audio device) and when it has finished playing respectively.

Example: playAudio('12-00-00.wav').

playLoadedAudio(Identifier)

Play the preloaded audio file associated with the given loadedAudioID on the audio device.

A PlayAudioStarted and PlayAudioDone event will be sent when the audio starts playing and when it has finished playing respectively.

Example: playLoadedAudio(1).

say(Text)

Use text-to-speech to make the audio device play the given text. The exact results depends on the device that is used.

A TextStarted and TextDone event will be sent when the device starts playing the text and after it has completed this respectively.

Example: say('Hello, world!').

sayAnimated(Text)

The same as say(Text), but on a Nao/Pepper the robot will automatically add some animations whilst saying this text.

A TextStarted and TextDone event will be sent when the audio device starts playing the text and after it has completed this respectively.

Example: sayAnimated('Hello. Goodbye!').

setLanguage(LanguageKey)

Set the language to be used by the audio device's text-to-speech engine and Dialogflow's speech-to-text engine. By default, if a flowLang is given in the init parameters, this language will be set accordingly; otherwise it is 'nl-NL' by default.

A LanguageChanged event will be sent when the text-to-speech engine has switched language (Dialogflow will use the given language for the next detection).

Example: setLanguage('en-US').

setSpeechParam(Param,Value)

For influencing the text-to-speech engine parameters on the Nao/Pepper. See http://doc.aldebaran.com/2-5/naoqi/audio/altexttospeech-api.html#ALTextToSpeechProxy::setParameter__ssCR.floatCR for more details.

A SetSpeechParamDone will be sent once the parameter has been applied.

Example: setSpeechParam('speed', 85).

Note: this does not always seem to fully work on Naos. Some workarounds:

- In the say/sayAnimated actions, the text-to-speech output can be shaped using tags; see http://doc.aldebaran.com/2-5/naoqi/audio/altexttospeech-tuto.html#using-tags-for-voice-tuning

Example: say('\\rspd=150\\Hello I'm talking faster now').

- On the robot itself, the default settings can be changed by updating the voiceSettings.xml file.

• Dutch voiceSettings file path on Nao: /var/persistent/home/nao/.local/share/PackageManager/apps/robot-language-dutch/share/tts/acapela/DUN/voiceSettings.xml

• English voiceSettings file path on Nao: /var/persistent/home/nao/.local/share/PackageManager/apps/robot-language-english/share/tts/nuance/en_US/voiceSettings.xml

Example: <Setting name="defaultVoiceSpeed" description="Voice speed" value="150.0"/>

startListening(Timeout,Context='')

Opens up the selected microphone and starts streaming the audio, e.g. to Dialogflow, either until the Timeout (in seconds, possibly with decimals) has been reached or a stopListening action is called. If the given Timeout is 0, the microphone will remain open until stopListening is called. The optional Context in this action is fed to Dialogflow (see https://cloud.google.com/dialogflow/docs/contexts-input-output#input_contexts). 

A ListeningStarted and ListeningDone event will be sent when the microphone is opened and when it has closed again respectively. There are, however, also specific events from services that depend on the microphone (see the event percept for more information).

Note that when using Dialogflow, by default, you can do this at most 1000 times per 24 hours (see 'Standard Edition - Audio' at https://cloud.google.com/dialogflow/quotas).

Example: startListening(2.5, 'answer_yesno').

startWatching(Timeout)

Opens up the selected camera and starts streaming the video, e.g. to a face recognition or emotion detection service, either until the Timeout (in seconds, possibly with decimals) has been reached or a stopWatching action is called. If the given Timeout is 0, the camera will remain open until stopWatching is called.

A WatchingStarted and WatchingDone event will be sent when the camera is opened and when it has closed again respectively. There are, however, also specific events from services that depend on the camera (see the event percept for more information).

Example: startWatching(0).

stopListening

See startListening; force-closes the microphone (if it was open).

stopTalking

See say and sayAnimated; aborts the current text-to-speech being executed (if any).

stopWatching

See startWatching; force-closes the camera (if it was open).

takePicture

Instructs the face recognition and/or people detection service to send the next camera image (see startWatching) to the client. See the picture percept for more information.

Memory

These actions are specifically for the memory service (note: Users here are end-users).

addMemoryEntry(UserID,CounterKey,Data)

Adds the given Data for the given User (by his/her identifier). The given User needs to exist first (see setUserData), the CounterKey is used to keep track of the number of entries according to a specific category, and finally the data is expected to be either a plain string, a plain list, or a list in the format [key1=value1,key2=value2,...].

A MemoryEntryStored event will be sent when the given information has been stored.

Example: addMemoryEntry('someone', 'nonsense', 'blablabla').

getUserData(UserID,Key)

Retrieves the data stored for the given User (by his/her identifier) at the given Key.

If any data is present, a memoryData percept will be sent.

Example: getUserData('someone', 'something').

getUserSession(UserID)

Creates a new session for the given User (by his/her identifier). This is currently used for post-analysis of the user data only.

Example: getUserSession('someone').

setUserData(UserID,Key,Data)

Sets the given (string or numeric) Data identified by the given Key for the given User (by his/her identifier). If the User does not exist, he/she is created. If something is already stored at the given Key, it is overwritten.

A UserDataSet event will be sent when the given information has been stored.

Example: setUserData('someone', 'something', 'Hello, world!').

Browser

These are actions for connected browsers, e.g. the Pepper's tablet. The webserver service is always required for this.

renderPage(Html)

Render the given HTML code in the body of the page on the connected browser. For more information, see Tablets/Phones/Browsers.

Google Assistant

These are actions specifically for a connected Google Assistant devices (which must be done through the computer-google-assistant JAR). The dialogflow service is not required to in order to receive intents from a Dialogflow webhook (connected to the Google Assistant).

assistantShow(Text,Suggestions=[])

Show and say the given text on the Google Assistant. This must be a response to some (webhook) intent.

Through the second argument a list of strings can be passed that the assistant will show to the end-user as possible responses.

A ShownOnAssistant event will be sent when the device shows the text (and thus starts saying it too).

Example: assistantShow('Hello, world!').

assistantShowCard(Text, ImgUrl, ImgAlt, Suggestions=[])

The same as assistantShow(Text), but with an added image to show (and a mandatory alternative text in case the image can’t be loaded). ImgUrl must be a HTTPS link to a JPG, PNG or GIF image. Through the final argument a list of strings can be passed that the assistant will show to the end-user as possible responses.

A ShownOnAssistant event will be sent when the device shows the card (and thus starts saying the text too).

Example: assistantShowCard('Hello, world!', 'https://www.vu.nl/nl/Images/VUlogo_NL_Wit_HR_RGB_tcm289-201376.png', 'VU logo').

assistantPlayMedia(Text, AudioName, AudioUrl, Suggestions)

The same as assistantShow(Text), but with an added audio file to play (and a mandatory name for it). AudioUrl must be a HTTPS link to a MP3 file. Through the final argument a list of strings must be passed (it is not optional here) that the assistant will show to the end-user as possible responses.

A ShownOnAssistant event will be sent when the device shows the media (and thus starts saying the text too, only after which the audio will be played).

Example: assistantShowCard('Listen to this!', 'Demo MP3', 'https://www.soundhelix.com/examples/mp3/SoundHelix-Song-1.mp3', ['Stop']).