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The CBSR EIS-environment will always launch 1 entity of type ‘robot'. Upon launching a MAS2G, first a dialog will pop-up requesting the user’s log-in (see https://socialrobotics.atlassian.net/wiki/spaces/CBSR). Then, a dialog will pop-up requesting the devices (of that user) that should be used. Only after the completion of these two dialogs will the agent start executing.

Parameter

Description

server

The IP address of the server running the CBSR cloud (or the Docker version).

'localhost' by default.

flowkey

The (absolute or relative) path to the Dialogflow authentication JSON file.

Example: 'exampleagent-d8916-45d4143bb490.json'

Warning: never push such an authentication file to a public repository.

flowagent

The name of the Dialogflow agent.

Example: 'exampleagent-d8916'

flowlang

The language the Dialogflow agent should use.

'nl-NL' by default.

flowhook

If provided, a webhook for use with Dialogflow (Google Assistant) will be started at <name>.loca.lt

You can use this URL as the 'Fulfillment > Webhook' URL in Dialogflow. See the intent percept; when such a percept comes in with Source='webhook', the next say action will be used as the webhook response.

In principle, all actions are of the durative type; an agent does not wait until their factual completion (but the corresponding events need to be used instead).

Action

Description

Animations

These actions currently only work on Nao/Pepper robots.

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', 'RArm'], 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']).

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 robot-memory service.

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!').

Tablet

These are actions for touchscreen devices specifically, 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 tablet. By default, the Bootstrap framework is loaded (including jQuery), and can thus be used to style elements. Any <button> element will automatically send its contents (see the answer percept). In addition, giving the following classes to an element (e.g. a Div) have special effects:

  • chatbox: shows a text-type input, from which the input is sent to Dialogflow upon submission.

  • english_flag: shows an English flag, which when clicked upon will send the setLanguage command 'en-US'.

  • listening_icon: shows a listening icon (in the form of a microphone), which shows a user when the microphone is open.

  • speech_text: shows a live transcript of the text currently recognised by Dialogflow.

  • vu_logo: shows a VU logo.

showImage(Url)

Renders the image at the given URL full-screen on the tablet.

showVideo(Url)

Plays the video at the given URL full-screen on the tablet.

showWebpage(Url)

Opens the webpage at the given URL full-screen on the tablet.

tabletClose

Close anything that was opened by us on the tablet.

tabletOpen

This needs to be called first before any other tablet action can be called. It ensures a connection between the tablet and the client is established. The GOAL agent will wait immediately after this action has been called until such a connection has been established.

Percept

Description

answer(Answer)

The text from a button which was pressed on the tablet (see renderPage).

audioLanguage(LanguageKey)

A new audio language has been requested, possibly by something external like the tablet (see setLanguage and renderPage).

Example: audioLanguage(en-US).

audioRecording(Filename)

A new recorded audio file is available; the filename is always hh-mm-ss.wav and stored in the same folder as the currently running MAS2G (see enableRecording and startListening). Can be fed into one of the PlayAudio actions.

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

batteryCharge(Charge)

The current percentage of battery charge left in the robot.

Example: batteryCharge(100).

emotionDetected(Emotion)

An emotion was detected in the given image by the emotion detection service (see startWatching).

Example: emotionDetected('happy').

event(Event)

Either an event related to some action above, i.e. one of [BreathingDisabled, BreathingEnabled, ClearLoadedAudioDone, EarColourDone, EarColourStarted, EyeColourDone, EyeColourStarted, GestureDone, GestureStarted, HeadColourDone, HeadColourStarted, LanguageChanged, ListeningDone, ListeningStarted, MemoryEntryStored, PlayAudioDone, PlayAudioStarted, PlayMotionDone, PlayMotionStarted, RecordMotionStarted, SetIdle, SetNonIdle, SetSpeechParamDone, TextDone, TextStarted, TurnDone, TurnStarted, UserDataSet, WatchingDone, WatchingStarted], an event related to one of the robot's sensors, i.e. one of [BackBumperPressed, FrontTactilTouched, HandLeftBackTouched, HandLeftLeftTouched, HandLeftRightTouched, HandRightBackTouched, HandRightLeftTouched, HandRightRightTouched, LeftBumperPressed, MiddleTactilTouched, RearTactilTouched, RightBumperPressed] (see http://doc.aldebaran.com/2-5/family/robots/contact-sensors_robot.html), or an event originating from one of the services, i.e. one of [EmotionDetectionDone,EmotionDetectionStarted,FaceRecognitionDone,FaceRecognitionStarted,IntentDetectionDone,IntentDetectionStarted,MemoryEntryStored,PeopleDetectionDone,PeopleDetectionStarted,UserDataSet].

Example: event('TextDone').

faceRecognized(Identifier)

A face was recognised by the face recognition service. The identifier is a unique number for the given face, starting from 0. The percept will be sent continuously as long as the camera is open and the face is recognised.

Example: faceRecognized(12).

hotDevices(DeviceList)

One or more devices of the robot are (too) hot.

Example: hotDevices(['LLeg','RLeg']).

intent(Intent,Params,Confidence,Text,Source)

An Intent with the given name was detected by the Dialogflow service, possibly under the current context (see startListening). Note that the intent can be an empty string as well, meaning no intent was matched (but some speech was still processed into text). The Params are an optional key-value list of all recognised entities in the intent. The Confidence is indicated between 0 (no intent detected) and 100 (completely sure about the match). The Text is the raw text that was generated by Dialogflow from the speech input. Finally, the source is one of ['audio', ‘chat’, ‘webhook’].

Note that when an IntentDetectionDone event is sent, but no intent percept has arrived at that time, no (recognisable) speech was found by Dialogflow.

Example: intent('answer_yesno', [], 100, “Yes”, 'audio').

isAwake(Awake)

The rest-mode of the robot has changed, it’s either resting (awake=false) or it woke up (awake=true). See the wakeUp and rest actions.

Example: isAwake(true).

isCharging(Charging)

The robot is plugged-in (charging=true) or not (charging=false).

Example: isCharging(true).

loadedAudioID(Identifier)

The audio given in the latest loadAudio action has been preloaded and assigned the given identifier.

Example: loadedAudioID(0).

memoryData(Key,Value)

A response to a getUserData action.

Example: memoryData('something', 'blabla').

motionRecording(Recording)

The result of a startMotionRecording action, which can be fed into playMotion.

Example: motionRecording([…]).

personDetected

Sent when the people detection service detected someone. The percept will be sent continuously as long as the camera is open and a person is detected.

picture(Filename)

A new picture file is available; the filename is always hh-mm-ss.jpg and stored in the same folder as the currently running MAS2G (see startWatching and takePicture). Can be fed into the renderPage action (e.g. converted to base64).

Example: picture('12-00-00.jpg').

posture(Posture)

The robot has taken the posture; see the goToPosture action.

Example: posture('Stand').

stiffness(Stiffness)

A number indicating the current average stiffness in the robot’s body. 0: less than 0.05 average, 1: between 0.05 and 0.95 average, 2: above 0.95 average. See the setStiffness action.

Example: stiffness(1).


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