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pepper = Pepper(device_id="pepper1")
dialogflow = self.start_service(DialogflowService, device_id='local')

dialogflow.register_inputconnect(pepper.microphone)
dialogflow.register_callback(print_transcript)

while True:
  intent = dialogflow.request(ListenForIntentRequest())
  if intent.name == "hello":
    wave_req = PepperMotionRequest("wave")
    pepper.motion.request(wave_req)