feat: added basic list of 10 gestures

ref: N25B-402

.env.example

@@ -0,0 +1,25 @@
+# Example .env file. To use, make a copy, call it ".env" (i.e. removing the ".example" suffix), then you edit values.
+# To make a variable apply, uncomment it (remove the "#" in front of the line).
+
+# First, some variables that are likely to be configured:
+
+# The hostname or IP address of the Control Backend.
+AGENT__CONTROL_BACKEND_HOST=localhost
+
+
+
+# Variables that are unlikely to be configured, you can probably ignore these:
+
+#AGENT__ACTUATION_RECEIVER_PORT=
+#AGENT__MAIN_RECEIVER_PORT=
+#AGENT__VIDEO_SENDER_PORT=
+#AGENT__AUDIO_SENDER_PORT=
+#VIDEO__CAMERA_INDEX=
+#VIDEO__RESOLUTION=
+#VIDEO__COLOR_SPACE=
+#VIDEO__FPS=
+#VIDEO__STREAM_NAME=
+#VIDEO__IMAGE_BUFFER=
+#AUDIO__SAMPLE_RATE=
+#AUDIO__CHUNK_SIZE=
+#AUDIO__CHANNELS=

.gitignore

@@ -220,3 +220,5 @@ __marimo__/
 # Docs
 docs/*
 !docs/conf.py
+!docs/installation/
+!docs/installation/**

README.md

@@ -8,90 +8,21 @@ This is an implementation for the Pepper robot, using the Pepper SDK and Python
 
 ## Installation
 
-### Linux (or WSL)
+- [Linux](./docs/installation/linux.md)
+- [macOS](./docs/installation/macos.md)
+- [Windows](./docs/installation/windows.md)
 
-Start off by installing [Pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#installation) and walk through the steps outlined there (be sure to also add it to PATH). Also install the [Python build requirements](https://github.com/pyenv/pyenv/wiki#suggested-build-environment). Afterwards, install Python 2.7 and activate it for your current shell:
+
+
+### Git Hooks
+
+To activate automatic linting, formatting, branch name checks and commit message checks, run (after installing requirements):
 
 ```bash
-pyenv install 2.7
-pyenv shell 2.7
+pre-commit install
+pre-commit install --hook-type commit-msg
 ```
 
-You can check that this worked by typing
-
-```bash
-python -V
-```
-
-Which should return `Python 2.7.18`.
-
-Next, `cd` into this repository and create (and activate) a virtual environment:
-
-```bash
-cd <path to project>/
-python -m pip install virtualenv
-python -m virtualenv .venv
-source .venv/bin/activate
-```
-
-We depend on PortAudio for the `pyaudio` package, so install it with:
-
-```bash
-sudo apt install -y portaudio19-dev
-```
-
-On WSL, also install:
-
-```bash
-sudo apt install -y libasound2-plugins
-```
-
-Install the required packages with
-
-```bash
-pip install -r requirements.txt
-```
-
-Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Begin by downloading the SDK:
-
-```bash
-wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
-```
-
-Next, move into the `site-packages` directory and extract the file you just downloaded:
-
-```bash
-cd .venv/lib/python2.7/site-packages/
-tar xvfz <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
-rm <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
-```
-
-Lastly, we need to inform our virtual environment where to find our newly installed package:
-
-```bash
-echo <path to project>/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
-```
-
-That's it! Verify that it works with
-
-```bash
-python -c "import qi; print(qi)"
-```
-
-You should now be able to run this project.
-
-### macOS
-
-Similar to Linux, but don't bother installing `pyenv` as it won't be able to install Python 2 on Apple Silicon. Instead, install Python 2.7.18 from the [Python website](https://www.python.org/downloads/release/python-2718/).
-
-Create the virtual environment as described above in the Linux section. Stop at the point where it shows you how to download the NaoQi SDK. Instead, use:
-
-```shell
-curl -OL https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-mac64.tar.gz
-```
-
-Then resume the steps from above.
-
 
 
 ## Usage
@@ -108,10 +39,15 @@ On Windows:
 $env:PYTHONPATH="src"; python -m robot_interface.main
 ```
 
-With both, if you want to connect to the actual robot (or simulator), pass the `--qi-url` argument.
+### Program Arguments
+
+If you want to connect to the actual robot (or simulator), pass the `--qi-url` argument.
 
 There's also a `--microphone` argument that can be used to choose a microphone to use. If not given, the program will try the default microphone. If you don't know the name of the microphone, pass the argument with any value, and it will list the names of available microphones.
 
+### Environment Variables
+
+You may use environment variables to change settings. Make a copy of the [`.env.example`](.env.example) file, name it `.env` and put it in the root directory. The file itself describes how to do the configuration.
 
 
 ## Testing
@@ -134,23 +70,6 @@ For coverage, add `--cov=robot_interface` as an argument to `pytest`.
 
 
 
-## Git Hooks
-
-To activate automatic linting, formatting, branch name checks and commit message checks, run (after installing requirements):
-
-```bash
-pre-commit install
-pre-commit install --hook-type commit-msg
-```
-
-You might get an error along the lines of `Can't install pre-commit with core.hooksPath` set. To fix this, simply unset the hooksPath by running:
-
-```bash
-git config --local --unset core.hooksPath
-```
-
-Then run the pre-commit install commands again.
-
 ## Documentation
 Generate documentation web pages using:
 

docs/installation/linux.md

@@ -0,0 +1,75 @@
+# Installation
+
+Of the Pepper Robot Interface on Linux (or WSL).
+
+Start off by installing [Pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#installation) and walk through the steps outlined there (be sure to also add it to PATH). Also install the [Python build requirements](https://github.com/pyenv/pyenv/wiki#suggested-build-environment). Afterwards, install Python 2.7 and activate it for your current shell:
+
+```bash
+pyenv install 2.7
+pyenv shell 2.7
+```
+
+You can check that this worked by typing
+
+```bash
+python -V
+```
+
+Which should return `Python 2.7.18`.
+
+Next, `cd` into this repository and create (and activate) a virtual environment:
+
+```bash
+cd <path to project>/
+python -m pip install virtualenv
+python -m virtualenv .venv
+source .venv/bin/activate
+```
+
+We depend on PortAudio for the `pyaudio` package, so install it with:
+
+```bash
+sudo apt install -y portaudio19-dev
+```
+
+On WSL, also install:
+
+```bash
+sudo apt install -y libasound2-plugins
+```
+
+Install the required packages with
+
+```bash
+pip install -r requirements.txt
+```
+
+Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Begin by downloading the SDK:
+
+```bash
+wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
+```
+
+Next, move into the `site-packages` directory and extract the file you just downloaded:
+
+```bash
+cd .venv/lib/python2.7/site-packages/
+tar xvfz <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
+rm <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
+```
+
+Lastly, we need to inform our virtual environment where to find our newly installed package:
+
+```bash
+echo <path to project>/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
+```
+
+That's it! Verify that it works with
+
+```bash
+python -c "import qi; print(qi)"
+```
+
+You should now be able to run this project.
+
+See the README for how to run.

docs/installation/macos.md

@@ -0,0 +1,106 @@
+# Installation
+
+Of the Pepper Robot Interface on macOS.
+
+
+
+## Python 2.7
+
+Install Python 2.7.18 from the [Python website](https://www.python.org/downloads/release/python-2718/).
+
+Check that it worked by executing
+
+```shell
+python2 -V
+```
+
+Which should return Python 2.7.18.
+
+
+
+## Virtual Environment
+
+Next, cd into this repository and create (and activate) a virtual environment:
+
+```shell
+cd /path/to/project/
+python2 -m pip install virtualenv
+python2 -m virtualenv .venv
+source .venv/bin/activate
+```
+
+We depend on PortAudio for the `pyaudio` package. If on Intel, run `brew install portaudio`. If on Apple Silicon, compile manually using the steps described in [the YouTrack article](https://utrechtuniversity.youtrack.cloud/articles/N25B-A-22/Install-PyAudio-for-Python-2-on-Apple-Silicon).
+
+Then install the required Python packages with
+
+```shell
+pip install -r requirements.txt
+```
+
+
+
+## NaoQi SDK
+
+We need to manually install the NaoQi SDK into our virtual environment. There are two options:
+
+1. Install a newer version (2.8) which will make running easier, but compatibility is uncertain.
+2. Install the version expected by the robot (2.5). This will complicate running slightly.
+
+### Option 1
+
+Download the SDK from [twirre.io](https://twirre.io/files/pynaoqi-python2.7-2.8.6.23-mac64-20191127_144231.tar.gz), or find one on the Aldebaran website, or an archived version on Web Archive.
+
+Extract it to `/path/to/project/.venv/lib/python2.7/site-packages/`.
+
+We need to inform our virtual environment where to find our newly installed package:
+
+```bash
+echo "/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.8.6.23-mac64-20191127_144231/lib/python2.7/site-packages/" > /path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7.pth
+```
+
+Now continue with [verifying](#verifying).
+
+### Option 2
+
+This method of installation requires setting the `DYLD_LIBRARY_PATH` environment variable before running. How will be explained.
+
+Download the SDK from [twirre.io](https://twirre.io/files/pynaoqi-2.5.7.1-mac64-deps.tar.gz). This is a modified version of the one from Aldebaran, this one including required Choregraphe dependencies.
+
+Extract it to `/path/to/project/.venv/lib/python2.7/site-packages/`.
+
+We need to inform our virtual environment where to find our newly installed package:
+
+```shell
+echo "/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-mac64/lib/python2.7/site-packages/" > /path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7.pth
+```
+
+Now, anytime before running you need to set the `DYLD_LIBRARY_PATH` environment variable.
+
+```shell
+export DYLD_LIBRARY_PATH="/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-mac64/choregraphe_lib:${DYLD_LIBRARY_PATH}"
+```
+
+You may want to simplify environment activation with a script `activate.sh` like:
+
+```shell
+#!/bin/zsh
+
+export DYLD_LIBRARY_PATH="/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.8.6.23-mac64-20191127_144231/choregraphe_lib:${DYLD_LIBRARY_PATH}"
+source .venv/bin/activate
+```
+
+[Verify](#verifying) if it works.
+
+
+
+## Verifying
+
+Verify that the NaoQI SDK installation works with
+
+```bash
+python -c "import qi; print(qi)"
+```
+
+If so, you should now be able to run this project.
+
+See the README for how to run.

docs/installation/windows.md

@@ -0,0 +1,44 @@
+# Installation
+
+Of the Pepper Robot Interface on Windows.
+
+Install Python 2.7.18 from [the Python website](https://www.python.org/downloads/release/python-2718/), choose the x86-64 installer (at the bottom of the page).
+
+To see if it worked:
+
+```shell
+py -2 -V
+```
+
+Which should return `Python 2.7.18`.
+
+Next, `cd` into this repository and create (and activate) a virtual environment:
+
+```bash
+cd <path to project>/
+py -2 -m pip install virtualenv
+py -2 -m virtualenv .venv
+.\.venv\Scripts\activate
+```
+
+Install the required packages with
+
+```bash
+pip install -r requirements.txt
+```
+
+Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Download the SDK from [Aldebaran](https://community-static.aldebaran.com/resources/2.5.5/sdk-python/pynaoqi-python2.7-2.5.5.5-win32-vs2013.zip), [Web Archive](https://web.archive.org/web/20240120111043/https://community-static.aldebaran.com/resources/2.5.5/sdk-python/pynaoqi-python2.7-2.5.5.5-win32-vs2013.zip) or [twirre.io](https://twirre.io/files/pynaoqi-python2.7-2.8.6.23-win64-vs2015-20191127_152649.zip).
+
+Extract to `.\.venv\Lib\site-packages`.
+
+Create a file `.venv\Lib\site-packages\pynaoqi-python2.7.pth`, put the full path of `pynaoqi-python2.7-2.8.6.23-win64-vs2015-20191127_152649\lib\python2.7\Lib\site-packages` in there.
+
+Test if it worked by running:
+
+```bash
+python -c "import qi; print(qi)"
+```
+
+You should now be able to run this project.
+
+See the README for how to run.

requirements.txt

@@ -6,3 +6,4 @@ pytest-cov<3.0.0
 sphinx
 sphinx_rtd_theme
 pre-commit
+python-dotenv

src/robot_interface/core/config.py

@@ -1,95 +1,101 @@
 from __future__ import unicode_literals
 
+from robot_interface.utils.get_config import get_config
+
 
 class AgentSettings(object):
     """
     Agent port configuration.
 
-    :ivar actuating_receiver_port: Port for receiving actuation commands.
-    :vartype actuating_receiver_port: int
-    :ivar main_receiver_port: Port for receiving main messages.
+    :ivar control_backend_host: Hostname of the control backend, defaults to "localhost".
+    :vartype control_backend_host: string
+    :ivar actuation_receiver_port: Port for receiving actuation commands, defaults to 5557.
+    :vartype actuation_receiver_port: int
+    :ivar main_receiver_port: Port for receiving main messages, defaults to 5555.
     :vartype main_receiver_port: int
-    :ivar video_sender_port: Port used for sending video frames.
+    :ivar video_sender_port: Port used for sending video frames, defaults to 5556.
     :vartype video_sender_port: int
-    :ivar audio_sender_port: Port used for sending audio data.
+    :ivar audio_sender_port: Port used for sending audio data, defaults to 5558.
     :vartype audio_sender_port: int
     """
     def __init__(
-        self, 
-        actuating_receiver_port=5557, 
-        main_receiver_port=5555,
-        video_sender_port=5556, 
-        audio_sender_port=5558,
+        self,
+        control_backend_host=None,
+        actuation_receiver_port=None,
+        main_receiver_port=None,
+        video_sender_port=None,
+        audio_sender_port=None,
     ):
-        self.actuating_receiver_port = actuating_receiver_port
-        self.main_receiver_port = main_receiver_port
-        self.video_sender_port = video_sender_port
-        self.audio_sender_port = audio_sender_port
+        self.control_backend_host = get_config(control_backend_host, "AGENT__CONTROL_BACKEND_HOST", "localhost")
+        self.actuation_receiver_port = get_config(actuation_receiver_port, "AGENT__ACTUATION_RECEIVER_PORT", 5557, int)
+        self.main_receiver_port = get_config(main_receiver_port, "AGENT__MAIN_RECEIVER_PORT", 5555, int)
+        self.video_sender_port = get_config(video_sender_port, "AGENT__VIDEO_SENDER_PORT", 5556, int)
+        self.audio_sender_port = get_config(audio_sender_port, "AGENT__AUDIO_SENDER_PORT", 5558, int)
 
 
 class VideoConfig(object):
     """
     Video configuration constants.
 
-    :ivar camera_index: Index of the camera used.
+    :ivar camera_index: Index of the camera used, defaults to 0.
     :vartype camera_index: int
-    :ivar resolution: Video resolution mode.
+    :ivar resolution: Video resolution mode, defaults to 2.
     :vartype resolution: int
-    :ivar color_space: Color space identifier.
+    :ivar color_space: Color space identifier, defaults to 11.
     :vartype color_space: int
-    :ivar fps: Frames per second of the video stream.
+    :ivar fps: Frames per second of the video stream, defaults to 15.
     :vartype fps: int
-    :ivar stream_name: Name of the video stream.
+    :ivar stream_name: Name of the video stream, defaults to "Pepper Video".
     :vartype stream_name: str
-    :ivar image_buffer: Internal buffer size for video frames.
+    :ivar image_buffer: Internal buffer size for video frames, defaults to 6.
     :vartype image_buffer: int
     """
     def __init__(
         self,
-        camera_index=0,
-        resolution=2,
-        color_space=11,
-        fps=15,
-        stream_name="Pepper Video",
-        image_buffer=6,
+        camera_index=None,
+        resolution=None,
+        color_space=None,
+        fps=None,
+        stream_name=None,
+        image_buffer=None,
     ):
-        self.camera_index = camera_index
-        self.resolution = resolution
-        self.color_space = color_space
-        self.fps = fps
-        self.stream_name = stream_name  
-        self.image_buffer  = image_buffer
+        self.camera_index = get_config(camera_index, "VIDEO__CAMERA_INDEX", 0, int)
+        self.resolution = get_config(resolution, "VIDEO__RESOLUTION", 2, int)
+        self.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 11, int)
+        self.fps = get_config(fps, "VIDEO__FPS", 15, int)
+        self.stream_name = get_config(stream_name, "VIDEO__STREAM_NAME", "Pepper Video")
+        self.image_buffer = get_config(image_buffer, "VIDEO__IMAGE_BUFFER", 6, int)
 
 
 class AudioConfig(object):
     """
     Audio configuration constants.
 
-    :ivar sample_rate: Audio sampling rate in Hz.
+    :ivar sample_rate: Audio sampling rate in Hz, defaults to 16000.
     :vartype sample_rate: int
-    :ivar chunk_size: Size of audio chunks to capture/process.
+    :ivar chunk_size: Size of audio chunks to capture/process, defaults to 512.
     :vartype chunk_size: int
-    :ivar channels: Number of audio channels.
+    :ivar channels: Number of audio channels, defaults to 1.
     :vartype channels: int
     """
-    def __init__(self, sample_rate=16000, chunk_size=512, channels=1):
-        self.sample_rate = sample_rate
-        self.chunk_size = chunk_size
-        self.channels = channels
+    def __init__(self, sample_rate=None, chunk_size=None, channels=None):
+        self.sample_rate = get_config(sample_rate, "AUDIO__SAMPLE_RATE", 16000, int)
+        self.chunk_size = get_config(chunk_size, "AUDIO__CHUNK_SIZE", 512, int)
+        self.channels = get_config(channels, "AUDIO__CHANNELS", 1, int)
 
 
 class MainConfig(object):
     """
     Main system configuration.
 
-    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds.
+    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds, defaults to 100.
     :vartype poll_timeout_ms: int
-    :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds.
+    :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds, defaults to 50.
     :vartype max_handler_time_ms: int
     """
-    def __init__(self, poll_timeout_ms=100, max_handler_time_ms=50):
-        self.poll_timeout_ms = poll_timeout_ms
-        self.max_handler_time_ms = max_handler_time_ms
+    def __init__(self, poll_timeout_ms=None, max_handler_time_ms=None):
+        self.poll_timeout_ms = get_config(poll_timeout_ms, "MAIN__POLL_TIMEOUT_MS", 100, int)
+        self.max_handler_time_ms = get_config(max_handler_time_ms, "MAIN__MAX_HANDLER_TIME_MS", 50, int)
 
 
 class Settings(object):

src/robot_interface/endpoints/actuation_receiver.py

@@ -7,6 +7,7 @@ from robot_interface.endpoints.receiver_base import ReceiverBase
 from robot_interface.state import state
 
 from robot_interface.core.config import settings
+from robot_interface.endpoints.gesture_settings import GestureTags
 
 
 class ActuationReceiver(ReceiverBase):
@@ -21,12 +22,16 @@ class ActuationReceiver(ReceiverBase):
 
     :ivar _tts_service: The text-to-speech service object from the Qi session.
     :vartype _tts_service: qi.Session | None
+
+    :ivar _animation_service: The animation/gesture service object from the Qi session.
+    :vartype _animation_service: qi.Session | None
     """
-    def __init__(self, zmq_context, port=settings.agent_settings.actuating_receiver_port):
+    def __init__(self, zmq_context, port=settings.agent_settings.actuation_receiver_port):
         super(ActuationReceiver, self).__init__("actuation")
         self.create_socket(zmq_context, zmq.SUB, port)
         self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Causes block if given in options
         self._tts_service = None
+        self._animation_service = None
 
     def _handle_speech(self, message):
         """
@@ -54,7 +59,54 @@ class ActuationReceiver(ReceiverBase):
             self._tts_service = state.qi_session.service("ALTextToSpeech")
 
         # Returns instantly. Messages received while speaking will be queued.
-        qi.async(self._tts_service.say, text)
+        getattr(qi, "async")(self._tts_service.say, text)
+
+    def _handle_gesture(self, message, is_single):
+        """
+        Handle a gesture actuation request.
+        
+        :param message: The gesture to do, must contain properties "endpoint" and "data".
+        :type message: dict
+
+        :param is_single: Whether it's a specific single gesture or a gesture tag.
+        :type is_single: bool
+        """
+
+        gesture = message.get("data")
+        if not gesture:
+            logging.warn("Received gesture to do, but it lacks data.")
+            return
+
+        if not isinstance(gesture, (str, unicode)):
+            logging.warn("Received gesture to do but it is not a string.")
+            return
+
+        logging.debug("Received gesture to do: {}".format(gesture))
+
+        if is_single:
+            if gesture not in GestureTags.single_gestures:
+                logging.warn("Received single gesture to do, but it does not exist in settings")
+                return
+        else:
+            if gesture not in GestureTags.tags:
+                logging.warn("Received single tag to do, but it does not exist in settings")
+                return
+
+        if not state.qi_session: return
+        # If state has a qi_session, we know that we can import qi
+        import qi  # Takes a while only the first time it's imported
+
+        if not self._animation_service:
+            self._animation_service = state.qi_session.service("ALAnimationPlayer")
+
+        # Play the gesture. Pepper comes with predefined animations like "Wave", "Greet", "Clap"
+        # You can also create custom animations using Choregraphe and upload them to the robot.
+        if is_single:
+            logging.debug("Playing single gesture: {}".format(gesture))
+            getattr(qi, "async")(self._animation_service.run, gesture)
+        else:
+            logging.debug("Playing tag gesture: {}".format(gesture))
+            getattr(qi, "async")(self._animation_service.runTag, gesture)
 
     def handle_message(self, message):
         """
@@ -65,3 +117,18 @@ class ActuationReceiver(ReceiverBase):
         """
         if message["endpoint"] == "actuate/speech":
             self._handle_speech(message)
+        if message["endpoint"] == "actuate/gesture/tag":
+            self._handle_gesture(message, False)
+        if message["endpoint"] == "actuate/gesture/single":
+            self._handle_gesture(message, True)
+
+    def endpoint_description(self):
+        """
+        Extend the default endpoint description with gesture tags.
+        Returned during negotiate/ports so the CB knows available gestures.
+        """
+        desc = super(ActuationReceiver, self).endpoint_description()
+        desc["gestures"] = GestureTags.tags
+        desc["basic_gestures"] = GestureTags.basic_gestures
+        desc["single_gestures"] = GestureTags.single_gestures
+        return desc

src/robot_interface/endpoints/gesture_settings.py

@@ -0,0 +1,425 @@
+class GestureTags:
+    tags = ["above", "affirmative", "afford", "agitated", "all", "allright", "alright", "any", 
+            "assuage", "assuage", "attemper", "back", "bashful", "beg", "beseech", "blank", 
+            "body language", "bored", "bow", "but", "call", "calm", "choose", "choice", "cloud", 
+            "cogitate", "cool", "crazy", "disappointed", "down", "earth", "empty", "embarrassed", 
+            "enthusiastic", "entire", "estimate", "except", "exalted", "excited", "explain", "far", 
+            "field", "floor", "forlorn", "friendly", "front", "frustrated", "gentle", "gift", 
+            "give", "ground", "happy", "hello", "her", "here", "hey", "hi", "him", "hopeless", 
+            "hysterical", "I", "implore", "indicate", "joyful", "me", "meditate", "modest", 
+            "negative", "nervous", "no", "not know", "nothing", "offer", "ok", "once upon a time", 
+            "oppose", "or", "pacify", "pick", "placate", "please", "present", "proffer", "quiet", 
+            "reason", "refute", "reject", "rousing", "sad", "select", "shamefaced", "show", 
+            "show sky", "sky", "soothe", "sun", "supplicate", "tablet", "tall", "them", "there", 
+            "think", "timid", "top", "unless", "up", "upstairs", "void", "warm", "winner", "yeah", 
+            "yes", "yoo-hoo", "you", "your", "zero", "zestful"]
+    
+    basic_gestures = [
+        "animations/Stand/Gestures/Hey_1",
+        "animations/Stand/Emotions/Neutral/Puzzled_1",
+        "animations/Stand/Gestures/Explain_4",
+        "animations/Stand/Gestures/You_1"
+        "animations/Stand/Emotions/Positive/Happy_1",
+        "animations/Stand/Emotions/Positive/Laugh_2",
+        "animations/Stand/Emotions/Neutral/Lonely_1",
+        "animations/Stand/Emotions/Negative/Surprise_1",
+        "animations/Stand/Emotions/Negative/Hurt_2",
+        "animations/Stand/Emotions/Negative/Angry_4",
+    ]
+
+    single_gestures = [
+        "animations/Stand/BodyTalk/Listening/Listening_1",
+        "animations/Stand/BodyTalk/Listening/Listening_2",
+        "animations/Stand/BodyTalk/Listening/Listening_3",
+        "animations/Stand/BodyTalk/Listening/Listening_4",
+        "animations/Stand/BodyTalk/Listening/Listening_5",
+        "animations/Stand/BodyTalk/Listening/Listening_6",
+        "animations/Stand/BodyTalk/Listening/Listening_7",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_1",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_10",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_11",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_12",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_13",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_14",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_15",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_16",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_2",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_3",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_4",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_5",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_6",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_7",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_8",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_9",
+        "animations/Stand/BodyTalk/Thinking/Remember_1",
+        "animations/Stand/BodyTalk/Thinking/Remember_2",
+        "animations/Stand/BodyTalk/Thinking/Remember_3",
+        "animations/Stand/BodyTalk/Thinking/ThinkingLoop_1",
+        "animations/Stand/BodyTalk/Thinking/ThinkingLoop_2",
+        "animations/Stand/Emotions/Negative/Angry_1",
+        "animations/Stand/Emotions/Negative/Angry_2",
+        "animations/Stand/Emotions/Negative/Angry_3",
+        "animations/Stand/Emotions/Negative/Angry_4",
+        "animations/Stand/Emotions/Negative/Anxious_1",
+        "animations/Stand/Emotions/Negative/Bored_1",
+        "animations/Stand/Emotions/Negative/Bored_2",
+        "animations/Stand/Emotions/Negative/Disappointed_1",
+        "animations/Stand/Emotions/Negative/Exhausted_1",
+        "animations/Stand/Emotions/Negative/Exhausted_2",
+        "animations/Stand/Emotions/Negative/Fear_1",
+        "animations/Stand/Emotions/Negative/Fear_2",
+        "animations/Stand/Emotions/Negative/Fearful_1",
+        "animations/Stand/Emotions/Negative/Frustrated_1",
+        "animations/Stand/Emotions/Negative/Humiliated_1",
+        "animations/Stand/Emotions/Negative/Hurt_1",
+        "animations/Stand/Emotions/Negative/Hurt_2",
+        "animations/Stand/Emotions/Negative/Late_1",
+        "animations/Stand/Emotions/Negative/Sad_1",
+        "animations/Stand/Emotions/Negative/Sad_2",
+        "animations/Stand/Emotions/Negative/Shocked_1",
+        "animations/Stand/Emotions/Negative/Sorry_1",
+        "animations/Stand/Emotions/Negative/Surprise_1",
+        "animations/Stand/Emotions/Negative/Surprise_2",
+        "animations/Stand/Emotions/Negative/Surprise_3",
+        "animations/Stand/Emotions/Neutral/Alienated_1",
+        "animations/Stand/Emotions/Neutral/AskForAttention_1",
+        "animations/Stand/Emotions/Neutral/AskForAttention_2",
+        "animations/Stand/Emotions/Neutral/AskForAttention_3",
+        "animations/Stand/Emotions/Neutral/Cautious_1",
+        "animations/Stand/Emotions/Neutral/Confused_1",
+        "animations/Stand/Emotions/Neutral/Determined_1",
+        "animations/Stand/Emotions/Neutral/Embarrassed_1",
+        "animations/Stand/Emotions/Neutral/Hesitation_1",
+        "animations/Stand/Emotions/Neutral/Innocent_1",
+        "animations/Stand/Emotions/Neutral/Lonely_1",
+        "animations/Stand/Emotions/Neutral/Mischievous_1",
+        "animations/Stand/Emotions/Neutral/Puzzled_1",
+        "animations/Stand/Emotions/Neutral/Sneeze",
+        "animations/Stand/Emotions/Neutral/Stubborn_1",
+        "animations/Stand/Emotions/Neutral/Suspicious_1",
+        "animations/Stand/Emotions/Positive/Amused_1",
+        "animations/Stand/Emotions/Positive/Confident_1",
+        "animations/Stand/Emotions/Positive/Ecstatic_1",
+        "animations/Stand/Emotions/Positive/Enthusiastic_1",
+        "animations/Stand/Emotions/Positive/Excited_1",
+        "animations/Stand/Emotions/Positive/Excited_2",
+        "animations/Stand/Emotions/Positive/Excited_3",
+        "animations/Stand/Emotions/Positive/Happy_1",
+        "animations/Stand/Emotions/Positive/Happy_2",
+        "animations/Stand/Emotions/Positive/Happy_3",
+        "animations/Stand/Emotions/Positive/Happy_4",
+        "animations/Stand/Emotions/Positive/Hungry_1",
+        "animations/Stand/Emotions/Positive/Hysterical_1",
+        "animations/Stand/Emotions/Positive/Interested_1",
+        "animations/Stand/Emotions/Positive/Interested_2",
+        "animations/Stand/Emotions/Positive/Laugh_1",
+        "animations/Stand/Emotions/Positive/Laugh_2",
+        "animations/Stand/Emotions/Positive/Laugh_3",
+        "animations/Stand/Emotions/Positive/Mocker_1",
+        "animations/Stand/Emotions/Positive/Optimistic_1",
+        "animations/Stand/Emotions/Positive/Peaceful_1",
+        "animations/Stand/Emotions/Positive/Proud_1",
+        "animations/Stand/Emotions/Positive/Proud_2",
+        "animations/Stand/Emotions/Positive/Proud_3",
+        "animations/Stand/Emotions/Positive/Relieved_1",
+        "animations/Stand/Emotions/Positive/Shy_1",
+        "animations/Stand/Emotions/Positive/Shy_2",
+        "animations/Stand/Emotions/Positive/Sure_1",
+        "animations/Stand/Emotions/Positive/Winner_1",
+        "animations/Stand/Emotions/Positive/Winner_2",
+        "animations/Stand/Gestures/Angry_1",
+        "animations/Stand/Gestures/Angry_2",
+        "animations/Stand/Gestures/Angry_3",
+        "animations/Stand/Gestures/BowShort_1",
+        "animations/Stand/Gestures/BowShort_2",
+        "animations/Stand/Gestures/BowShort_3",
+        "animations/Stand/Gestures/But_1",
+        "animations/Stand/Gestures/CalmDown_1",
+        "animations/Stand/Gestures/CalmDown_2",
+        "animations/Stand/Gestures/CalmDown_3",
+        "animations/Stand/Gestures/CalmDown_4",
+        "animations/Stand/Gestures/CalmDown_5",
+        "animations/Stand/Gestures/CalmDown_6",
+        "animations/Stand/Gestures/Choice_1",
+        "animations/Stand/Gestures/ComeOn_1",
+        "animations/Stand/Gestures/Confused_1",
+        "animations/Stand/Gestures/Confused_2",
+        "animations/Stand/Gestures/CountFive_1",
+        "animations/Stand/Gestures/CountFour_1",
+        "animations/Stand/Gestures/CountMore_1",
+        "animations/Stand/Gestures/CountOne_1",
+        "animations/Stand/Gestures/CountThree_1",
+        "animations/Stand/Gestures/CountTwo_1",
+        "animations/Stand/Gestures/Desperate_1",
+        "animations/Stand/Gestures/Desperate_2",
+        "animations/Stand/Gestures/Desperate_3",
+        "animations/Stand/Gestures/Desperate_4",
+        "animations/Stand/Gestures/Desperate_5",
+        "animations/Stand/Gestures/DontUnderstand_1",
+        "animations/Stand/Gestures/Enthusiastic_3",
+        "animations/Stand/Gestures/Enthusiastic_4",
+        "animations/Stand/Gestures/Enthusiastic_5",
+        "animations/Stand/Gestures/Everything_1",
+        "animations/Stand/Gestures/Everything_2",
+        "animations/Stand/Gestures/Everything_3",
+        "animations/Stand/Gestures/Everything_4",
+        "animations/Stand/Gestures/Everything_6",
+        "animations/Stand/Gestures/Excited_1",
+        "animations/Stand/Gestures/Explain_1",
+        "animations/Stand/Gestures/Explain_10",
+        "animations/Stand/Gestures/Explain_11",
+        "animations/Stand/Gestures/Explain_2",
+        "animations/Stand/Gestures/Explain_3",
+        "animations/Stand/Gestures/Explain_4",
+        "animations/Stand/Gestures/Explain_5",
+        "animations/Stand/Gestures/Explain_6",
+        "animations/Stand/Gestures/Explain_7",
+        "animations/Stand/Gestures/Explain_8",
+        "animations/Stand/Gestures/Far_1",
+        "animations/Stand/Gestures/Far_2",
+        "animations/Stand/Gestures/Far_3",
+        "animations/Stand/Gestures/Follow_1",
+        "animations/Stand/Gestures/Give_1",
+        "animations/Stand/Gestures/Give_2",
+        "animations/Stand/Gestures/Give_3",
+        "animations/Stand/Gestures/Give_4",
+        "animations/Stand/Gestures/Give_5",
+        "animations/Stand/Gestures/Give_6",
+        "animations/Stand/Gestures/Great_1",
+        "animations/Stand/Gestures/HeSays_1",
+        "animations/Stand/Gestures/HeSays_2",
+        "animations/Stand/Gestures/HeSays_3",
+        "animations/Stand/Gestures/Hey_1",
+        "animations/Stand/Gestures/Hey_10",
+        "animations/Stand/Gestures/Hey_2",
+        "animations/Stand/Gestures/Hey_3",
+        "animations/Stand/Gestures/Hey_4",
+        "animations/Stand/Gestures/Hey_6",
+        "animations/Stand/Gestures/Hey_7",
+        "animations/Stand/Gestures/Hey_8",
+        "animations/Stand/Gestures/Hey_9",
+        "animations/Stand/Gestures/Hide_1",
+        "animations/Stand/Gestures/Hot_1",
+        "animations/Stand/Gestures/Hot_2",
+        "animations/Stand/Gestures/IDontKnow_1",
+        "animations/Stand/Gestures/IDontKnow_2",
+        "animations/Stand/Gestures/IDontKnow_3",
+        "animations/Stand/Gestures/IDontKnow_4",
+        "animations/Stand/Gestures/IDontKnow_5",
+        "animations/Stand/Gestures/IDontKnow_6",
+        "animations/Stand/Gestures/Joy_1",
+        "animations/Stand/Gestures/Kisses_1",
+        "animations/Stand/Gestures/Look_1",
+        "animations/Stand/Gestures/Look_2",
+        "animations/Stand/Gestures/Maybe_1",
+        "animations/Stand/Gestures/Me_1",
+        "animations/Stand/Gestures/Me_2",
+        "animations/Stand/Gestures/Me_4",
+        "animations/Stand/Gestures/Me_7",
+        "animations/Stand/Gestures/Me_8",
+        "animations/Stand/Gestures/Mime_1",
+        "animations/Stand/Gestures/Mime_2",
+        "animations/Stand/Gestures/Next_1",
+        "animations/Stand/Gestures/No_1",
+        "animations/Stand/Gestures/No_2",
+        "animations/Stand/Gestures/No_3",
+        "animations/Stand/Gestures/No_4",
+        "animations/Stand/Gestures/No_5",
+        "animations/Stand/Gestures/No_6",
+        "animations/Stand/Gestures/No_7",
+        "animations/Stand/Gestures/No_8",
+        "animations/Stand/Gestures/No_9",
+        "animations/Stand/Gestures/Nothing_1",
+        "animations/Stand/Gestures/Nothing_2",
+        "animations/Stand/Gestures/OnTheEvening_1",
+        "animations/Stand/Gestures/OnTheEvening_2",
+        "animations/Stand/Gestures/OnTheEvening_3",
+        "animations/Stand/Gestures/OnTheEvening_4",
+        "animations/Stand/Gestures/OnTheEvening_5",
+        "animations/Stand/Gestures/Please_1",
+        "animations/Stand/Gestures/Please_2",
+        "animations/Stand/Gestures/Please_3",
+        "animations/Stand/Gestures/Reject_1",
+        "animations/Stand/Gestures/Reject_2",
+        "animations/Stand/Gestures/Reject_3",
+        "animations/Stand/Gestures/Reject_4",
+        "animations/Stand/Gestures/Reject_5",
+        "animations/Stand/Gestures/Reject_6",
+        "animations/Stand/Gestures/Salute_1",
+        "animations/Stand/Gestures/Salute_2",
+        "animations/Stand/Gestures/Salute_3",
+        "animations/Stand/Gestures/ShowFloor_1",
+        "animations/Stand/Gestures/ShowFloor_2",
+        "animations/Stand/Gestures/ShowFloor_3",
+        "animations/Stand/Gestures/ShowFloor_4",
+        "animations/Stand/Gestures/ShowFloor_5",
+        "animations/Stand/Gestures/ShowSky_1",
+        "animations/Stand/Gestures/ShowSky_10",
+        "animations/Stand/Gestures/ShowSky_11",
+        "animations/Stand/Gestures/ShowSky_12",
+        "animations/Stand/Gestures/ShowSky_2",
+        "animations/Stand/Gestures/ShowSky_3",
+        "animations/Stand/Gestures/ShowSky_4",
+        "animations/Stand/Gestures/ShowSky_5",
+        "animations/Stand/Gestures/ShowSky_6",
+        "animations/Stand/Gestures/ShowSky_7",
+        "animations/Stand/Gestures/ShowSky_8",
+        "animations/Stand/Gestures/ShowSky_9",
+        "animations/Stand/Gestures/ShowTablet_1",
+        "animations/Stand/Gestures/ShowTablet_2",
+        "animations/Stand/Gestures/ShowTablet_3",
+        "animations/Stand/Gestures/Shy_1",
+        "animations/Stand/Gestures/Stretch_1",
+        "animations/Stand/Gestures/Stretch_2",
+        "animations/Stand/Gestures/Surprised_1",
+        "animations/Stand/Gestures/TakePlace_1",
+        "animations/Stand/Gestures/TakePlace_2",
+        "animations/Stand/Gestures/Take_1",
+        "animations/Stand/Gestures/Thinking_1",
+        "animations/Stand/Gestures/Thinking_2",
+        "animations/Stand/Gestures/Thinking_3",
+        "animations/Stand/Gestures/Thinking_4",
+        "animations/Stand/Gestures/Thinking_5",
+        "animations/Stand/Gestures/Thinking_6",
+        "animations/Stand/Gestures/Thinking_7",
+        "animations/Stand/Gestures/Thinking_8",
+        "animations/Stand/Gestures/This_1",
+        "animations/Stand/Gestures/This_10",
+        "animations/Stand/Gestures/This_11",
+        "animations/Stand/Gestures/This_12",
+        "animations/Stand/Gestures/This_13",
+        "animations/Stand/Gestures/This_14",
+        "animations/Stand/Gestures/This_15",
+        "animations/Stand/Gestures/This_2",
+        "animations/Stand/Gestures/This_3",
+        "animations/Stand/Gestures/This_4",
+        "animations/Stand/Gestures/This_5",
+        "animations/Stand/Gestures/This_6",
+        "animations/Stand/Gestures/This_7",
+        "animations/Stand/Gestures/This_8",
+        "animations/Stand/Gestures/This_9",
+        "animations/Stand/Gestures/WhatSThis_1",
+        "animations/Stand/Gestures/WhatSThis_10",
+        "animations/Stand/Gestures/WhatSThis_11",
+        "animations/Stand/Gestures/WhatSThis_12",
+        "animations/Stand/Gestures/WhatSThis_13",
+        "animations/Stand/Gestures/WhatSThis_14",
+        "animations/Stand/Gestures/WhatSThis_15",
+        "animations/Stand/Gestures/WhatSThis_16",
+        "animations/Stand/Gestures/WhatSThis_2",
+        "animations/Stand/Gestures/WhatSThis_3",
+        "animations/Stand/Gestures/WhatSThis_4",
+        "animations/Stand/Gestures/WhatSThis_5",
+        "animations/Stand/Gestures/WhatSThis_6",
+        "animations/Stand/Gestures/WhatSThis_7",
+        "animations/Stand/Gestures/WhatSThis_8",
+        "animations/Stand/Gestures/WhatSThis_9",
+        "animations/Stand/Gestures/Whisper_1",
+        "animations/Stand/Gestures/Wings_1",
+        "animations/Stand/Gestures/Wings_2",
+        "animations/Stand/Gestures/Wings_3",
+        "animations/Stand/Gestures/Wings_4",
+        "animations/Stand/Gestures/Wings_5",
+        "animations/Stand/Gestures/Yes_1",
+        "animations/Stand/Gestures/Yes_2",
+        "animations/Stand/Gestures/Yes_3",
+        "animations/Stand/Gestures/YouKnowWhat_1",
+        "animations/Stand/Gestures/YouKnowWhat_2",
+        "animations/Stand/Gestures/YouKnowWhat_3",
+        "animations/Stand/Gestures/YouKnowWhat_4",
+        "animations/Stand/Gestures/YouKnowWhat_5",
+        "animations/Stand/Gestures/YouKnowWhat_6",
+        "animations/Stand/Gestures/You_1",
+        "animations/Stand/Gestures/You_2",
+        "animations/Stand/Gestures/You_3",
+        "animations/Stand/Gestures/You_4",
+        "animations/Stand/Gestures/You_5",
+        "animations/Stand/Gestures/Yum_1",
+        "animations/Stand/Reactions/EthernetOff_1",
+        "animations/Stand/Reactions/EthernetOn_1",
+        "animations/Stand/Reactions/Heat_1",
+        "animations/Stand/Reactions/Heat_2",
+        "animations/Stand/Reactions/LightShine_1",
+        "animations/Stand/Reactions/LightShine_2",
+        "animations/Stand/Reactions/LightShine_3",
+        "animations/Stand/Reactions/LightShine_4",
+        "animations/Stand/Reactions/SeeColor_1",
+        "animations/Stand/Reactions/SeeColor_2",
+        "animations/Stand/Reactions/SeeColor_3",
+        "animations/Stand/Reactions/SeeSomething_1",
+        "animations/Stand/Reactions/SeeSomething_3",
+        "animations/Stand/Reactions/SeeSomething_4",
+        "animations/Stand/Reactions/SeeSomething_5",
+        "animations/Stand/Reactions/SeeSomething_6",
+        "animations/Stand/Reactions/SeeSomething_7",
+        "animations/Stand/Reactions/SeeSomething_8",
+        "animations/Stand/Reactions/ShakeBody_1",
+        "animations/Stand/Reactions/ShakeBody_2",
+        "animations/Stand/Reactions/ShakeBody_3",
+        "animations/Stand/Reactions/TouchHead_1",
+        "animations/Stand/Reactions/TouchHead_2",
+        "animations/Stand/Reactions/TouchHead_3",
+        "animations/Stand/Reactions/TouchHead_4",
+        "animations/Stand/Waiting/AirGuitar_1",
+        "animations/Stand/Waiting/BackRubs_1",
+        "animations/Stand/Waiting/Bandmaster_1",
+        "animations/Stand/Waiting/Binoculars_1",
+        "animations/Stand/Waiting/BreathLoop_1",
+        "animations/Stand/Waiting/BreathLoop_2",
+        "animations/Stand/Waiting/BreathLoop_3",
+        "animations/Stand/Waiting/CallSomeone_1",
+        "animations/Stand/Waiting/Drink_1",
+        "animations/Stand/Waiting/DriveCar_1",
+        "animations/Stand/Waiting/Fitness_1",
+        "animations/Stand/Waiting/Fitness_2",
+        "animations/Stand/Waiting/Fitness_3",
+        "animations/Stand/Waiting/FunnyDancer_1",
+        "animations/Stand/Waiting/HappyBirthday_1",
+        "animations/Stand/Waiting/Helicopter_1",
+        "animations/Stand/Waiting/HideEyes_1",
+        "animations/Stand/Waiting/HideHands_1",
+        "animations/Stand/Waiting/Innocent_1",
+        "animations/Stand/Waiting/Knight_1",
+        "animations/Stand/Waiting/KnockEye_1",
+        "animations/Stand/Waiting/KungFu_1",
+        "animations/Stand/Waiting/LookHand_1",
+        "animations/Stand/Waiting/LookHand_2",
+        "animations/Stand/Waiting/LoveYou_1",
+        "animations/Stand/Waiting/Monster_1",
+        "animations/Stand/Waiting/MysticalPower_1",
+        "animations/Stand/Waiting/PlayHands_1",
+        "animations/Stand/Waiting/PlayHands_2",
+        "animations/Stand/Waiting/PlayHands_3",
+        "animations/Stand/Waiting/Relaxation_1",
+        "animations/Stand/Waiting/Relaxation_2",
+        "animations/Stand/Waiting/Relaxation_3",
+        "animations/Stand/Waiting/Relaxation_4",
+        "animations/Stand/Waiting/Rest_1",
+        "animations/Stand/Waiting/Robot_1",
+        "animations/Stand/Waiting/ScratchBack_1",
+        "animations/Stand/Waiting/ScratchBottom_1",
+        "animations/Stand/Waiting/ScratchEye_1",
+        "animations/Stand/Waiting/ScratchHand_1",
+        "animations/Stand/Waiting/ScratchHead_1",
+        "animations/Stand/Waiting/ScratchLeg_1",
+        "animations/Stand/Waiting/ScratchTorso_1",
+        "animations/Stand/Waiting/ShowMuscles_1",
+        "animations/Stand/Waiting/ShowMuscles_2",
+        "animations/Stand/Waiting/ShowMuscles_3",
+        "animations/Stand/Waiting/ShowMuscles_4",
+        "animations/Stand/Waiting/ShowMuscles_5",
+        "animations/Stand/Waiting/ShowSky_1",
+        "animations/Stand/Waiting/ShowSky_2",
+        "animations/Stand/Waiting/SpaceShuttle_1",
+        "animations/Stand/Waiting/Stretch_1",
+        "animations/Stand/Waiting/Stretch_2",
+        "animations/Stand/Waiting/TakePicture_1",
+        "animations/Stand/Waiting/Taxi_1",
+        "animations/Stand/Waiting/Think_1",
+        "animations/Stand/Waiting/Think_2",
+        "animations/Stand/Waiting/Think_3",
+        "animations/Stand/Waiting/Think_4",
+        "animations/Stand/Waiting/Waddle_1",
+        "animations/Stand/Waiting/Waddle_2",
+        "animations/Stand/Waiting/WakeUp_1",
+        "animations/Stand/Waiting/Zombie_1"]         

src/robot_interface/endpoints/main_receiver.py

@@ -5,6 +5,7 @@ from robot_interface.state import state
 
 from robot_interface.core.config import settings
 
+
 class MainReceiver(ReceiverBase):
     """
     The main receiver endpoint, responsible for handling ping and negotiation requests.
@@ -12,10 +13,12 @@ class MainReceiver(ReceiverBase):
     :param zmq_context: The ZeroMQ context to use.
     :type zmq_context: zmq.Context
 
-    :param port: The port to use.
+    :param port: The port to use, defaults to value in `settings.agent_settings.main_receiver_port`.
     :type port: int
     """
-    def __init__(self, zmq_context, port=settings.agent_settings.main_receiver_port):
+    def __init__(self, zmq_context, port=None):
+        if port is None:
+            port = settings.agent_settings.main_receiver_port
         super(MainReceiver, self).__init__("main")
         self.create_socket(zmq_context, zmq.REP, port, bind=False)
 

src/robot_interface/endpoints/socket_base.py

@@ -2,6 +2,8 @@ from abc import ABCMeta
 
 import zmq
 
+from robot_interface.core.config import settings
+
 
 class SocketBase(object):
     """
@@ -59,7 +61,7 @@ class SocketBase(object):
         if bind:
             self.socket.bind("tcp://*:{}".format(port))
         else:
-            self.socket.connect("tcp://localhost:{}".format(port))
+            self.socket.connect("tcp://{}:{}".format(settings.agent_settings.control_backend_host, port))
 
     def close(self):
         """Close the ZeroMQ socket."""

src/robot_interface/utils/get_config.py

@@ -0,0 +1,32 @@
+import os
+from dotenv import load_dotenv
+
+load_dotenv()
+
+
+def get_config(value, env, default, cast=None):
+    """
+    Small utility to get a configuration value, returns `value` if it is not None, else it will try to get the
+    environment variable cast with `cast`. If the environment variable is not set, it will return `default`.
+
+    :param value: The value to check.
+    :type value: Any
+    :param env: The environment variable to check.
+    :type env: string
+    :param default: The default value to return if the environment variable is not set.
+    :type default: Any
+    :param cast: A function to use to cast the environment variable. Must support string input.
+    :type cast: Callable[[Any], Any], optional
+
+    :return: The value, the environment variable value, or the default.
+    :rtype: Any
+    """
+    if value is not None:
+        return value
+
+    env = os.environ.get(env, default)
+
+    if cast is None:
+        return env
+
+    return cast(env)

test/integration/test_config.py

@@ -0,0 +1,32 @@
+from mock import patch, mock
+
+from robot_interface.core.config import Settings
+from robot_interface.endpoints.main_receiver import MainReceiver
+
+
+def test_environment_variables(monkeypatch):
+    """
+    When environment variables are set, creating settings should use these.
+    """
+    monkeypatch.setenv("AGENT__CONTROL_BACKEND_HOST", "some_value_that_should_be_different")
+
+    settings = Settings()
+
+    assert settings.agent_settings.control_backend_host == "some_value_that_should_be_different"
+
+
+@patch("robot_interface.endpoints.main_receiver.settings")
+@patch("robot_interface.endpoints.socket_base.settings")
+def test_create_endpoint_custom_host(base_settings, main_settings):
+    """
+    When a custom host is given in the settings, check that an endpoint's socket connects to it.
+    """
+    fake_context = mock.Mock()
+    fake_socket = mock.Mock()
+    fake_context.socket.return_value = fake_socket
+    base_settings.agent_settings.control_backend_host = "not_localhost"
+    main_settings.agent_settings.main_receiver_port = 9999
+
+    _ = MainReceiver(fake_context)
+
+    fake_socket.connect.assert_called_once_with("tcp://not_localhost:9999")

test/unit/test_actuation_receiver.py

@@ -5,6 +5,7 @@ import pytest
 import zmq
 
 from robot_interface.endpoints.actuation_receiver import ActuationReceiver
+from robot_interface.endpoints.gesture_settings import GestureTags
 
 
 @pytest.fixture
@@ -94,7 +95,159 @@ def test_speech(zmq_context, mocker):
 
     mock_state.qi_session.service.assert_called_once_with("ALTextToSpeech")
 
-    mock_qi.async.assert_called_once()
-    call_args = mock_qi.async.call_args[0]
+    getattr(mock_qi, "async").assert_called_once()
+    call_args = getattr(mock_qi, "async").call_args[0]
     assert call_args[0] == mock_tts_service.say
     assert call_args[1] == "Some message to speak."
+
+
+def test_gesture_no_data(zmq_context, mocker):
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": ""}, True)
+    # Just ensuring no crash
+
+
+def test_gesture_invalid_data(zmq_context, mocker):
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": 123}, True)
+    # No crash expected
+
+
+def test_gesture_single_not_found(zmq_context, mocker):
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.single_gestures = ["wave", "bow"]  # allowed single gestures
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "unknown_gesture"}, True)
+    # No crash expected
+
+
+def test_gesture_tag_not_found(zmq_context, mocker):
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.tags = ["happy", "sad"]
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "not_a_tag"}, False)
+    # No crash expected
+
+
+def test_gesture_no_qi_session(zmq_context, mocker):
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    mock_state.qi_session = None
+
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.single_gestures = ["hello"]
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "hello"}, True)
+    # No crash, path returns early
+
+
+def test_gesture_single_success(zmq_context, mocker):
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi
+
+    # Setup gesture settings
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.single_gestures = ["wave"]
+
+    mock_animation_service = mock.Mock()
+    mock_state.qi_session = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_animation_service
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "wave"}, True)
+
+    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
+    getattr(mock_qi, "async").assert_called_once()
+    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
+    assert getattr(mock_qi, "async").call_args[0][1] == "wave"
+
+
+def test_gesture_tag_success(zmq_context, mocker):
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi
+
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.tags = ["greeting"]
+
+    mock_animation_service = mock.Mock()
+    mock_state.qi_session = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_animation_service
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "greeting"}, False)
+
+    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
+    getattr(mock_qi, "async").assert_called_once()
+    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.runTag
+    assert getattr(mock_qi, "async").call_args[0][1] == "greeting"
+
+
+def test_handle_message_all_routes(zmq_context, mocker):
+    """
+    Ensures all handle_message endpoint branches route correctly.
+    """
+    receiver = ActuationReceiver(zmq_context)
+
+    mock_speech = mocker.patch.object(receiver, "_handle_speech")
+    mock_gesture = mocker.patch.object(receiver, "_handle_gesture")
+
+    receiver.handle_message({"endpoint": "actuate/speech", "data": "hi"})
+    receiver.handle_message({"endpoint": "actuate/gesture/tag", "data": "greeting"})
+    receiver.handle_message({"endpoint": "actuate/gesture/single", "data": "wave"})
+
+    mock_speech.assert_called_once()
+    assert mock_gesture.call_count == 2
+
+
+def test_endpoint_description(zmq_context, mocker):
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.tags = ["happy"]
+    mock_tags.single_gestures = ["wave"]
+
+    receiver = ActuationReceiver(zmq_context)
+    desc = receiver.endpoint_description()
+
+    assert "gestures" in desc
+    assert desc["gestures"] == ["happy"]
+
+    assert "single_gestures" in desc
+    assert desc["single_gestures"] == ["wave"]
+
+
+def test_gesture_single_real_gesturetags(zmq_context, mocker):
+    """
+    Uses the real GestureTags (no mocking) to ensure the receiver
+    references GestureTags.single_gestures correctly.
+    """
+    # Ensure qi session exists so we pass the early return
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    mock_state.qi_session = mock.Mock()
+
+    # Mock qi.async to avoid real async calls
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi
+
+    # Mock animation service
+    mock_animation_service = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_animation_service
+
+    receiver = ActuationReceiver(zmq_context)
+
+    # Pick a real gesture from GestureTags.single_gestures
+    assert len(GestureTags.single_gestures) > 0, "GestureTags.single_gestures must not be empty"
+    gesture = GestureTags.single_gestures[0]
+
+    receiver._handle_gesture(
+        {"endpoint": "actuate/gesture/single", "data": gesture},
+        is_single=True,
+    )
+
+    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
+    getattr(mock_qi, "async").assert_called_once()
+    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
+    assert getattr(mock_qi, "async").call_args[0][1] == gesture
+

test/unit/test_get_config.py

@@ -0,0 +1,45 @@
+from robot_interface.utils.get_config import get_config
+
+
+def test_get_config_prefers_explicit_value(monkeypatch):
+    """
+    When a direct value is provided it should be returned without reading the environment.
+    """
+    monkeypatch.setenv("GET_CONFIG_TEST", "from-env")
+
+    result = get_config("explicit", "GET_CONFIG_TEST", "default")
+
+    assert result == "explicit"
+
+
+def test_get_config_returns_env_value(monkeypatch):
+    """
+    If value is None the environment variable should be used.
+    """
+    monkeypatch.setenv("GET_CONFIG_TEST", "from-env")
+
+    result = get_config(None, "GET_CONFIG_TEST", "default")
+
+    assert result == "from-env"
+
+
+def test_get_config_casts_env_value(monkeypatch):
+    """
+    The env value should be cast when a cast function is provided.
+    """
+    monkeypatch.setenv("GET_CONFIG_PORT", "1234")
+
+    result = get_config(None, "GET_CONFIG_PORT", 0, int)
+
+    assert result == 1234
+
+
+def test_get_config_casts_default_when_env_missing(monkeypatch):
+    """
+    When the env var is missing it should fall back to the default and still apply the cast.
+    """
+    monkeypatch.delenv("GET_CONFIG_MISSING", raising=False)
+
+    result = get_config(None, "GET_CONFIG_MISSING", "42", int)
+
+    assert result == 42