diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..894a44c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,104 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
diff --git a/.metadata b/.metadata
new file mode 100644
index 0000000..e69de29
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..0a04128
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
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+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
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+       a copy of the Library already present on the user's computer
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+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
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+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..0e38ebe
--- /dev/null
+++ b/README.md
@@ -0,0 +1,2 @@
+# Choregraphe-GA
+Choregraphe python box with Google Assistant integration
diff --git a/behavior_1/behavior.xar b/behavior_1/behavior.xar
new file mode 100644
index 0000000..704ee90
--- /dev/null
+++ b/behavior_1/behavior.xar
@@ -0,0 +1,935 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<ChoregrapheProject xmlns="http://www.aldebaran-robotics.com/schema/choregraphe/project.xsd" xar_version="3">
+    <Box name="root" id="-1" localization="8" tooltip="Root box of Choregraphe&apos;s behavior. Highest level possible." x="0" y="0">
+        <bitmap>media/images/box/root.png</bitmap>
+        <script language="4">
+            <content>
+                <![CDATA[]]>
+</content>
+        </script>
+        <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+        <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
+        <Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
+        <Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
+        <Timeline enable="0">
+            <BehaviorLayer name="behavior_layer1">
+                <BehaviorKeyframe name="keyframe1" index="1">
+                    <Diagram>
+                        <Box name="GA" id="2" localization="8" tooltip="This box contains a python script that can be utilized to speak with Google Assistant" x="432" y="120">
+                            <bitmap>../../../../../Others/tirocinio/node-assistant/module-chore/google-assistant.png</bitmap>
+                            <script language="4">
+                                <content>
+                                    <![CDATA[import wave
+import time
+import socket
+import re
+import json
+import sys
+import threading
+
+from subprocess import Popen, PIPE
+from threading import Thread
+from Queue import Queue, Empty
+
+# TCP client
+TCP_IP = '172.20.10.4'
+TCP_PORT = 32768
+BUFFER_SIZE = 512
+
+# GA answers
+EOU = "END_OF_UTTERANCE"
+DFO = "DIALOG_FOLLOW_ON"
+
+# Recording com
+command = ['arecord',
+            '--format', 'S16_LE',
+            '--rate', '16000',
+            '--file-type', 'raw']
+
+ON_POSIX = 'posix' in sys.builtin_module_names
+
+def enqueue_output(out, queue):
+    t = threading.currentThread()
+
+    for line in iter(out.readline, b''):
+        if getattr(t, "stop_t", False):
+            # Stop thread
+            break
+        queue.put(line)
+    out.close()
+
+def connect_ga():
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.connect((TCP_IP, TCP_PORT))
+    return s
+
+def start_recording():
+    p = Popen(command, stdout=PIPE, bufsize=1, close_fds=ON_POSIX)
+    q = Queue()
+    t = Thread(target=enqueue_output, args=(p.stdout, q))
+    t.daemon = True
+    t.start()
+
+    return q, t
+
+def remove_emoji(text):
+    emoji_pattern = re.compile("["
+        u"\U0001F600-\U0001F64F"  # emoticons
+        u"\U0001F300-\U0001F5FF"  # symbols & pictographs
+        u"\U0001F680-\U0001F6FF"  # transport & map symbols
+        u"\U0001F1E0-\U0001F1FF"  # flags (iOS)
+                           "]+", flags=re.UNICODE)
+    return emoji_pattern.sub(r'', text)
+
+class MyClass(GeneratedClass):
+    def __init__(self):
+        GeneratedClass.__init__(self)
+        self.tts = ALProxy('ALTextToSpeech')
+        self.soundPeak = False
+
+    def onLoad(self):
+        #put initialization code here
+        pass
+
+    def onUnload(self):
+        #put clean-up code here
+        self.s.close()
+        self.t.stop_t = True
+        self.t.join()
+        pass
+
+    def onInput_audioTrigger(self):
+        self.soundPeak = True
+
+    def start_zora(self):
+        self.isEOU = False
+        self.eu = ""
+
+        self.q, self.t = start_recording()
+        self.logger.info("Recording...")
+
+        self.s = connect_ga()
+        self.logger.info("Connected to GA")
+
+        self.onListening()
+
+    def onInput_onStart(self):
+        while not self.soundPeak:
+            pass
+
+        self.start_zora()
+
+        #audioList = []
+
+        while True:
+            if(not self.isEOU):
+                #Send audio
+                try:
+                    #Get mic data from thread
+                    data = self.q.get_nowait()
+                except Empty:
+                    #If we have no new data, try again
+                    pass
+                else:
+                    #We have data, send it
+                    #audioList.append(data)
+                    self.s.send(data)
+                    self.eu += self.s.recv(BUFFER_SIZE)
+
+                if (self.eu is None):
+                    self.logger.info("Wrong answer from server")
+                    break
+
+                if("0END_OF_UTTERANCE" in self.eu):
+                    self.isEOU = True
+                    self.logger.info("END_OF_UTTERANCE")
+
+                    while True:
+                        self.eu += self.s.recv(BUFFER_SIZE)
+
+                        #No more data from server
+                        if("STOP_JSON" in self.eu):
+                            break
+
+                    self.logger.info("finished receiving")
+
+                    #Stop thread and wait for exit
+                    self.t.stop_t = True
+                    self.t.join()
+
+                    self.logger.info("finished recording")
+            else:
+                #Analyse answer from google
+                '''
+                #[DEBUG] write audio
+                file = wave.open('/home/nao/audioTest/test.wav', 'wb')
+                file.setnchannels(1)
+                file.setframerate(16000)
+                file.setsampwidth(2)
+                file.writeframes(b''.join(audioList))
+                file.close()
+                '''
+                self.onUnderstood()
+
+                data = re.search('START_JSON(.*)STOP_JSON', self.eu)
+
+                if data:
+                    response = json.loads(data.group(1))
+
+                    del self.eu
+
+                    if "text" in response:
+                        #We have a text answer from GA
+                        speach = remove_emoji(response["text"])
+                        speach = speach.encode('utf-8')
+                        speach = re.sub(r'\.\n.*\n*\( +.+\)\.*', '', speach) #remove link from supplemental display text
+                        speach = re.sub(r'-{3}', '', speach) #remove ---
+                        speach = re.sub(r'\(http.*\)', '', speach) #remove \\nWikipedia (http...)
+                        speach = re.sub(r'\\n.*', '', speach) #remove \\nWikipedia(http....)
+
+                        transcript = unicode(response["transcript"]) #the input audio transcript
+                        microphone_mode = str(response["microphone_mode"]) #CLOSE_MICROPHONE or DIALOG_FOLLOW_ON
+                        conversation_state = response["conversation_state"] #state information for the subsequent audio
+
+
+                        #self.logger.info(speach)
+                        self.tts.say(speach)
+
+                        self.s.close()
+
+                        self.goReco()
+
+                        if microphone_mode != DFO:
+                            #If GA dont't want an answer from the user
+                            self.soundPeak = False
+
+                            while not self.soundPeak:
+                                pass
+
+                        self.start_zora()
+                    else:
+                        self.logger.info("Error/No answer")
+                        #break
+
+                        self.onError()
+
+                        self.goReco()
+
+                        self.soundPeak = False
+                        while not self.soundPeak:
+                            pass
+
+                        self.start_zora()
+
+        self.logger.info("finished GA")
+        self.onStopped()
+        pass
+
+    def onInput_onStop(self):
+        self.onUnload() #it is recommended to reuse the clean-up as the box is stopped
+        self.onStopped() #activate the output of the box]]>
+</content>
+                            </script>
+                            <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                            <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
+                            <Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
+                            <Input name="audioTrigger" type="1" type_size="1" nature="1" inner="0" tooltip="" id="4" />
+                            <Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="5" />
+                            <Output name="onListening" type="1" type_size="1" nature="2" inner="0" tooltip="" id="6" />
+                            <Output name="onError" type="1" type_size="1" nature="2" inner="0" tooltip="" id="7" />
+                            <Output name="onUnderstood" type="1" type_size="1" nature="2" inner="0" tooltip="" id="8" />
+                            <Output name="goReco" type="1" type_size="1" nature="2" inner="0" tooltip="" id="9" />
+                            <Parameter name="url" inherits_from_parent="0" content_type="3" value="https://9f1d1359.ngrok.io/answer" default_value="" custom_choice="0" tooltip="" id="10" />
+                        </Box>
+                        <Box name="Face Tracker" id="4" localization="-1" tooltip="This box makes the robot track a face with different modes." x="205" y="323">
+                            <bitmap>media/images/box/interaction/target_face.png</bitmap>
+                            <script language="4">
+                                <content>
+                                    <![CDATA[import time
+
+class MyClass(GeneratedClass):
+    def __init__(self):
+        GeneratedClass.__init__(self)
+        self.tracker = ALProxy( "ALTracker" )
+        self.memory = ALProxy("ALMemory")
+        self.targetName = "Face"
+        self.distanceX = 0.0
+        self.distanceY = 0.0
+        self.angleWz = 0.0
+        self.thresholdX = 0.0
+        self.thresholdY = 0.0
+        self.thresholdWz = 0.0
+        self.subscribeDone = False
+        self.effector = "None"
+        self.isRunning = False
+
+    def onLoad(self):
+        self.BIND_PYTHON(self.getName(), "setParameter")
+        self.BIND_PYTHON(self.getName(), "onTargetLost")
+        self.BIND_PYTHON(self.getName(), "onTargetReached")
+        self.BIND_PYTHON(self.getName(), "onTargetChanged")
+        self.memory.subscribeToEvent("ALTracker/ActiveTargetChanged", self.getName(), "onTargetChanged")
+
+    def onUnload(self):
+        if self.subscribeDone:
+            self.memory.unsubscribeToEvent("ALTracker/TargetLost", self.getName())
+            self.memory.unsubscribeToEvent("ALTracker/TargetReached", self.getName())
+            self.subscribeDone = False
+
+        if self.isRunning:
+            self.tracker.setEffector("None")
+            self.tracker.stopTracker()
+            self.tracker.unregisterTarget(self.targetName)
+            self.isRunning = False
+
+    def onInput_onStart(self):
+        self.memory.subscribeToEvent("ALTracker/TargetLost", self.getName(), "onTargetLost")
+        self.memory.subscribeToEvent("ALTracker/TargetReached", self.getName(), "onTargetReached")
+        self.subscribeDone = True
+
+        mode = self.getParameter("Mode")
+        width = self.getParameter("Width (m)")
+        self.distanceX = self.getParameter("Distance X (m)")
+        self.thresholdX = self.getParameter("Threshold X (m)")
+        self.distanceY = self.getParameter("Distance Y (m)")
+        self.thresholdY = self.getParameter("Threshold Y (m)")
+        self.angleWz = self.getParameter("Theta (rad)")
+        self.thresholdWz = self.getParameter("Threshold Theta (rad)")
+        self.effector = self.getParameter("Effector")
+
+        self.tracker.setEffector(self.effector)
+
+        self.tracker.registerTarget(self.targetName, width)
+        self.tracker.setRelativePosition([-self.distanceX, self.distanceY, self.angleWz,
+                                           self.thresholdX, self.thresholdY, self.thresholdWz])
+        self.tracker.setMode(mode)
+
+        self.tracker.track(self.targetName) #Start tracker
+        self.isRunning = True
+
+    def onInput_onStop(self):
+        self.onStopped()
+        self.onUnload()
+
+    def setParameter(self, parameterName, newValue):
+        GeneratedClass.setParameter(self, parameterName, newValue)
+        if (parameterName == "Mode"):
+            self.tracker.setMode(newValue)
+            return
+
+        if (parameterName == "Width (m)"):
+            self.tracker.registerTarget(self.targetName, newValue)
+            return
+
+        if (parameterName == "Distance X (m)"):
+            self.distanceX = newValue
+            self.tracker.setRelativePosition([-self.distanceX, self.distanceY, self.angleWz,
+                                               self.thresholdX, self.thresholdY, self.thresholdWz])
+            return
+
+        if (parameterName == "Distance Y (m)"):
+            self.distanceY = newValue
+            self.tracker.setRelativePosition([-self.distanceX, self.distanceY, self.angleWz,
+                                               self.thresholdX, self.thresholdY, self.thresholdWz])
+            return
+
+        if (parameterName == "Theta (rad)"):
+            self.angleWz = newValue
+            self.tracker.setRelativePosition([-self.distanceX, self.distanceY, self.angleWz,
+                                               self.thresholdX, self.thresholdY, self.thresholdWz])
+            return
+
+        if (parameterName == "Threshold X (m)"):
+            self.thresholdX = newValue
+            self.tracker.setRelativePosition([-self.distanceX, self.distanceY, self.angleWz,
+                                               self.thresholdX, self.thresholdY, self.thresholdWz])
+            return
+
+        if (parameterName == "Threshold Y (m)"):
+            self.thresholdY = newValue
+            self.tracker.setRelativePosition([-self.distanceX, self.distanceY, self.angleWz,
+                                               self.thresholdX, self.thresholdY, self.thresholdWz])
+            return
+
+        if (parameterName == "Threshold Theta (rad)"):
+            self.thresholdWz = newValue
+            self.tracker.setRelativePosition([-self.distanceX, self.distanceY, self.angleWz,
+                                               self.thresholdX, self.thresholdY, self.thresholdWz])
+            return
+
+        if(parameterName == "Effector"):
+            self.tracker.setEffector(newValue)
+            self.effector = newValue
+            return
+
+    def onTargetLost(self, key, value, message):
+        self.targetLost()
+
+    def onTargetReached(self, key, value, message):
+        self.targetReached()
+
+    def onTargetChanged(self, key, value, message):
+        if value == self.targetName and not self.subscribeDone:
+            self.memory.subscribeToEvent("ALTracker/TargetLost", self.getName(), "onTargetLost")
+            self.memory.subscribeToEvent("ALTracker/TargetReached", self.getName(), "onTargetReached")
+            self.subscribeDone = True
+        elif value != self.targetName and self.subscribeDone:
+            self.memory.unsubscribeToEvent("ALTracker/TargetLost", self.getName())
+            self.memory.unsubscribeToEvent("ALTracker/TargetReached", self.getName())
+            self.subscribeDone = False]]>
+</content>
+                            </script>
+                            <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                            <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
+                            <Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
+                            <Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
+                            <Output name="targetLost" type="1" type_size="1" nature="2" inner="0" tooltip="Signal sent when the target is lost." id="5" />
+                            <Output name="targetReached" type="1" type_size="1" nature="2" inner="0" tooltip="Signal sent when the target is reached." id="6" />
+                            <Parameter name="Mode" inherits_from_parent="0" content_type="3" value="Head" default_value="Head" custom_choice="0" tooltip="Set tracker mode" id="7">
+                                <Choice value="Head" />
+                                <Choice value="WholeBody" />
+                                <Choice value="Move" />
+                            </Parameter>
+                            <Parameter name="Effector" inherits_from_parent="0" content_type="3" value="None" default_value="None" custom_choice="0" tooltip="Set effector to use for tracking. Head is always used." id="8">
+                                <Choice value="None" />
+                                <Choice value="Arms" />
+                                <Choice value="LArm" />
+                                <Choice value="RArm" />
+                            </Parameter>
+                            <Parameter name="Width (m)" inherits_from_parent="0" content_type="2" value="0.1" default_value="0.1" min="0.01" max="0.6" tooltip="Width of the face in meters" id="9" />
+                            <Parameter name="Distance X (m)" inherits_from_parent="0" content_type="2" value="0.3" default_value="0.3" min="0.01" max="5" tooltip="Distance on X axis the robot will try to maintain from its target in move modes." id="10" />
+                            <Parameter name="Threshold X (m)" inherits_from_parent="0" content_type="2" value="0.1" default_value="0.1" min="0.01" max="1" tooltip="Threshold above which the robot will move to track its target in move modes." id="11" />
+                            <Parameter name="Distance Y (m)" inherits_from_parent="0" content_type="2" value="0" default_value="0" min="-5" max="5" tooltip="Distance on Y axis the robot will try to maintain from its target in move modes." id="12" />
+                            <Parameter name="Threshold Y (m)" inherits_from_parent="0" content_type="2" value="0.1" default_value="0.1" min="0.01" max="1" tooltip="Threshold above which the robot will move to track its target in move modes." id="13" />
+                            <Parameter name="Theta (rad)" inherits_from_parent="0" content_type="2" value="0" default_value="0" min="-3.14" max="3.14" tooltip="Wz angle of the vector robot-target the robot will try to maintain in move modes." id="14" />
+                            <Parameter name="Threshold Theta (rad)" inherits_from_parent="0" content_type="2" value="0.3" default_value="0.3" min="0" max="3.14" tooltip="Threshold of the angle of the vector robot-target above which the robot will move to track its target in move modes." id="15" />
+                        </Box>
+                        <Box name="Speech Reco." id="5" localization="8" tooltip="Recognize a word from a list of words set in the box parameters.&#x0A;&#x0A;V1.1.0&#x0A;" x="434" y="392">
+                            <bitmap>media/images/box/interaction/ear.png</bitmap>
+                            <script language="4">
+                                <content>
+                                    <![CDATA[
+
+class MyClass(GeneratedClass):
+    def __init__(self):
+        GeneratedClass.__init__(self, False)
+        try:
+            self.asr = ALProxy("ALSpeechRecognition")
+        except Exception as e:
+            self.asr = None
+            self.logger.error(e)
+        self.memory = ALProxy("ALMemory")
+
+    def onLoad(self):
+        from threading import Lock
+        self.bIsRunning = False
+        self.mutex = Lock()
+        self.hasPushed = False
+        self.hasSubscribed = False
+        self.BIND_PYTHON(self.getName(), "onWordRecognized")
+
+    def onUnload(self):
+        from threading import Lock
+        self.mutex.acquire()
+        try:
+            if (self.bIsRunning):
+                if (self.hasSubscribed):
+                    self.memory.unsubscribeToEvent("WordRecognized", self.getName())
+                if (self.hasPushed and self.asr):
+                    self.asr.popContexts()
+        except RuntimeError, e:
+            self.mutex.release()
+            raise e
+        self.bIsRunning = False;
+        self.mutex.release()
+
+    def onInput_onStart(self):
+        from threading import Lock
+        self.mutex.acquire()
+        if(self.bIsRunning):
+            self.mutex.release()
+            return
+        self.bIsRunning = True
+        try:
+            if self.asr:
+                self.asr.setVisualExpression(self.getParameter("Visual expression"))
+                self.asr.pushContexts()
+            self.hasPushed = True
+            if self.asr:
+                self.asr.setVocabulary( self.getParameter("Word list").split(';'), self.getParameter("Enable word spotting") )
+            self.memory.subscribeToEvent("WordRecognized", self.getName(), "onWordRecognized")
+            self.hasSubscribed = True
+        except RuntimeError, e:
+            self.mutex.release()
+            self.onUnload()
+            raise e
+        self.mutex.release()
+
+    def onInput_onStop(self):
+        if( self.bIsRunning ):
+            self.onUnload()
+            self.onStopped()
+
+    def onWordRecognized(self, key, value, message):
+        if(len(value) > 1 and value[1] >= self.getParameter("Confidence threshold (%)")/100.):
+            self.wordRecognized(value[0]) #~ activate output of the box
+        else:
+            self.onNothing()]]>
+</content>
+                            </script>
+                            <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                            <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
+                            <Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
+                            <Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
+                            <Output name="wordRecognized" type="3" type_size="1" nature="2" inner="0" tooltip="Word recognized with a confidence higher than the threshold set in the box parameters." id="5" />
+                            <Output name="onNothing" type="1" type_size="1" nature="2" inner="0" tooltip="Nothing has been understood." id="6" />
+                            <Parameter name="Word list" inherits_from_parent="0" content_type="3" value="hi;hello;ciao;zora" default_value="yes;no" custom_choice="0" tooltip="Try to recognize a word from a list of words set in the box parameters." id="7" />
+                            <Parameter name="Confidence threshold (%)" inherits_from_parent="0" content_type="1" value="30" default_value="30" min="0" max="100" tooltip="If the confidence associated with the word recognized is below this threshold, the robot will consider that it is not recognized." id="8" />
+                            <Parameter name="Visual expression" inherits_from_parent="0" content_type="0" value="0" default_value="1" tooltip="Use the LEDs to show feedbacks from the robot during the recognition.&#x0A;&#x0A;For example:&#x0A;- Eyes leds get blue and turn when the speech recognition is launched.&#x0A;- They get yellow when the robot hears someone talking and analyses what it heard.&#x0A;- They flash in green when the robot understood and flash in red otherwise." id="9" />
+                            <Parameter name="Enable word spotting" inherits_from_parent="0" content_type="0" value="0" default_value="0" tooltip="If this option is not activated the robot will only understand exact expressions. If it is, he will spot the exact expressions even in the middle of a sentence.&#x0A;&#x0A;!!Warning!! This option is only available with the speech recognition module using Nuance (ie in Atom version of the robot)." id="10" />
+                            <Resource name="Speech recognition" type="Lock" timeout="0" />
+                        </Box>
+                        <Box name="Set Language" id="6" localization="8" tooltip="Select the language you would like the robot to speak and understand. Any following call to&#x0A;ALSpeechRecognition (Speech Reco. box for instance) or ALTextToSpeech (Say box&#x0A;for instance) will use this language." x="199" y="179">
+                            <bitmap>media/images/box/interaction/say.png</bitmap>
+                            <script language="4">
+                                <content>
+                                    <![CDATA[class MyClass(GeneratedClass):
+    def __init__(self):
+        GeneratedClass.__init__(self, False)
+
+    def onLoad(self):
+        try:
+            self.tts = ALProxy("ALTextToSpeech")
+        except:
+            self.logger.warn("ALTextToSpeech is not available, language setting cannot be applied to speech")
+            self.tts = None
+
+        try:
+            self.asr = ALProxy("ALSpeechRecognition")
+        except:
+            self.logger.warn("ALSpeechRecognition is not available, language setting cannot be applied to recognition")
+            self.asr = None
+
+        try:
+            self.dialog = ALProxy("ALDialog")
+        except:
+            self.logger.warn("ALDialog is not available, language setting cannot be applied to dialog")
+            self.dialog = None
+
+    def onInput_onSet(self):
+        lang = self.getParameter("Language")
+        try:
+            if self.asr:
+                self.asr.setLanguage( self.getParameter("Language") )
+            if self.tts:
+                self.tts.setLanguage( self.getParameter("Language") )
+            if self.dialog:
+                self.dialog.setLanguage( self.getParameter("Language") )
+            if self.tts is None and self.asr is None and self.dialog is None:
+                raise RuntimeError("Cannot set language: neither ALTextToSpeech nor ALSpeechRecognition nor ALDialog is available.")
+            self.onReady()
+        except:
+            error = "Language " + lang + " cannot be set."
+            self.logger.warn(error)
+            self.onError(error)]]>
+</content>
+                            </script>
+                            <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                            <Input name="onSet" type="1" type_size="1" nature="1" inner="0" tooltip="The data is set when a signal is received on this input." id="2" />
+                            <Output name="onReady" type="1" type_size="1" nature="2" inner="0" tooltip="Signal sent when the data has been set." id="3" />
+                            <Output name="onError" type="3" type_size="1" nature="2" inner="0" tooltip="Error output:&#x0A;- triggered if the language asked cannot be set" id="4" />
+                            <Parameter name="Language" inherits_from_parent="0" content_type="3" value="English" default_value="English" custom_choice="1" tooltip="Set the language the robot speaks and understands." id="5">
+                                <Choice value="Arabic" />
+                                <Choice value="Brazilian" />
+                                <Choice value="Chinese" />
+                                <Choice value="Czech" />
+                                <Choice value="Danish" />
+                                <Choice value="Dutch" />
+                                <Choice value="English" />
+                                <Choice value="Finnish" />
+                                <Choice value="French" />
+                                <Choice value="German" />
+                                <Choice value="Greek" />
+                                <Choice value="Italian" />
+                                <Choice value="Japanese" />
+                                <Choice value="Korean" />
+                                <Choice value="Norwegian" />
+                                <Choice value="Polish" />
+                                <Choice value="Portuguese" />
+                                <Choice value="Russian" />
+                                <Choice value="Spanish" />
+                                <Choice value="Swedish" />
+                                <Choice value="Turkish" />
+                            </Parameter>
+                            <Resource name="Speech" type="Lock" timeout="0" />
+                        </Box>
+                        <Box name="Earing LED" id="1" localization="8" tooltip="The eyes&apos; LED are set blue while the user is speaking" x="683" y="154">
+                            <bitmap>media/images/box/interaction/LED.png</bitmap>
+                            <script language="4">
+                                <content>
+                                    <![CDATA[]]>
+</content>
+                            </script>
+                            <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                            <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
+                            <Output name="onDone" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="3" />
+                            <Parameter name="Side" inherits_from_parent="0" content_type="3" value="Both" default_value="Both" custom_choice="0" tooltip="Choose the eye where the LED light is set." id="4">
+                                <Choice value="Both" />
+                                <Choice value="Left" />
+                                <Choice value="Right" />
+                            </Parameter>
+                            <Parameter name="Duration (s)" inherits_from_parent="0" content_type="2" value="0.1" default_value="0.1" min="0" max="5" tooltip="Transition&apos;s duration in seconds." id="5" />
+                            <Timeline enable="0">
+                                <BehaviorLayer name="behavior_layer1">
+                                    <BehaviorKeyframe name="keyframe1" index="1">
+                                        <Diagram>
+                                            <Box name="Eyes LEDs" id="15" localization="8" tooltip="Set the color of LEDs of robot&apos;s eyes." x="281" y="41">
+                                                <bitmap>media/images/box/interaction/LED.png</bitmap>
+                                                <script language="4">
+                                                    <content>
+                                                        <![CDATA[class MyClass(GeneratedClass):
+    def __init__(self):
+        GeneratedClass.__init__(self, False)
+
+    def onLoad(self):
+        self.ids = []
+        self.leds = ALProxy("ALLeds")
+
+    def onUnload(self):
+        #~ puts code for box cleanup here
+        pass
+
+    def onInput_color(self, p):
+        if( self.getParameter("Side") == "Left" ):
+            sGroup = "LeftFaceLeds"
+        elif( self.getParameter("Side") == "Right" ):
+            sGroup = "RightFaceLeds"
+        else:
+            sGroup = "FaceLeds"
+        id = self.leds.post.fadeRGB(sGroup, 256*256*p[0] + 256*p[1] + p[2], self.getParameter("Duration (s)"))
+        self.ids.append(id)
+        self.leds.wait(id, 0)
+        self.ids.remove(id)
+        if( self.ids == [] ):
+            self.onDone() # activate output of the box]]>
+</content>
+                                                </script>
+                                                <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                                                <Input name="color" type="2" type_size="3" nature="2" inner="0" tooltip="Color of robot&apos;s eyes." id="2" />
+                                                <Output name="onDone" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="3" />
+                                                <Parameter name="Side" inherits_from_parent="1" content_type="3" value="Both" default_value="Both" custom_choice="0" tooltip="Choose the eye where the LED light is set." id="4">
+                                                    <Choice value="Both" />
+                                                    <Choice value="Left" />
+                                                    <Choice value="Right" />
+                                                </Parameter>
+                                                <Parameter name="Duration (s)" inherits_from_parent="1" content_type="2" value="0.1" default_value="0.1" min="0" max="5" tooltip="Transition&apos;s duration in seconds." id="5" />
+                                            </Box>
+                                            <Box name="Color Edit" id="16" localization="8" tooltip="Transmit a table of number [R,G,B] correponsding to the selected color." plugin="coloredit_plugin" x="105" y="47">
+                                                <bitmap>media/images/box/interaction/vocabulary.png</bitmap>
+                                                <script language="4">
+                                                    <content>
+                                                        <![CDATA[class MyClass(GeneratedClass):
+	def __init__(self):
+		GeneratedClass.__init__(self)
+
+	def onInput_onStart(self):
+		self.onStopped([0, 81, 255])]]>
+</content>
+                                                </script>
+                                                <pluginContent>
+                                                    <color>#0051ff</color>
+                                                </pluginContent>
+                                                <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                                                <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="To send the color on the output." id="2" />
+                                                <Output name="onStopped" type="2" type_size="3" nature="1" inner="0" tooltip="[R,G,B] with R, G and B between 0 and 255." id="3" />
+                                            </Box>
+                                            <Link inputowner="15" indexofinput="2" outputowner="16" indexofoutput="3" />
+                                            <Link inputowner="16" indexofinput="2" outputowner="0" indexofoutput="2" />
+                                            <Link inputowner="0" indexofinput="3" outputowner="15" indexofoutput="3" />
+                                        </Diagram>
+                                    </BehaviorKeyframe>
+                                </BehaviorLayer>
+                            </Timeline>
+                        </Box>
+                        <Box name="Understood" id="8" localization="8" tooltip="The eyes&apos; LED are set white if it has understood" x="691" y="389">
+                            <bitmap>media/images/box/interaction/LED.png</bitmap>
+                            <script language="4">
+                                <content>
+                                    <![CDATA[]]>
+</content>
+                            </script>
+                            <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                            <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
+                            <Output name="onDone" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="3" />
+                            <Parameter name="Side" inherits_from_parent="0" content_type="3" value="Both" default_value="Both" custom_choice="0" tooltip="Choose the eye where the LED light is set." id="4">
+                                <Choice value="Both" />
+                                <Choice value="Left" />
+                                <Choice value="Right" />
+                            </Parameter>
+                            <Parameter name="Duration (s)" inherits_from_parent="0" content_type="2" value="0.1" default_value="0.1" min="0" max="5" tooltip="Transition&apos;s duration in seconds." id="5" />
+                            <Timeline enable="0">
+                                <BehaviorLayer name="behavior_layer1">
+                                    <BehaviorKeyframe name="keyframe1" index="1">
+                                        <Diagram>
+                                            <Box name="Eyes LEDs" id="15" localization="8" tooltip="Set the color of LEDs of robot&apos;s eyes." x="281" y="41">
+                                                <bitmap>media/images/box/interaction/LED.png</bitmap>
+                                                <script language="4">
+                                                    <content>
+                                                        <![CDATA[class MyClass(GeneratedClass):
+    def __init__(self):
+        GeneratedClass.__init__(self, False)
+
+    def onLoad(self):
+        self.ids = []
+        self.leds = ALProxy("ALLeds")
+
+    def onUnload(self):
+        #~ puts code for box cleanup here
+        pass
+
+    def onInput_color(self, p):
+        if( self.getParameter("Side") == "Left" ):
+            sGroup = "LeftFaceLeds"
+        elif( self.getParameter("Side") == "Right" ):
+            sGroup = "RightFaceLeds"
+        else:
+            sGroup = "FaceLeds"
+        id = self.leds.post.fadeRGB(sGroup, 256*256*p[0] + 256*p[1] + p[2], self.getParameter("Duration (s)"))
+        self.ids.append(id)
+        self.leds.wait(id, 0)
+        self.ids.remove(id)
+        if( self.ids == [] ):
+            self.onDone() # activate output of the box]]>
+</content>
+                                                </script>
+                                                <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                                                <Input name="color" type="2" type_size="3" nature="2" inner="0" tooltip="Color of robot&apos;s eyes." id="2" />
+                                                <Output name="onDone" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="3" />
+                                                <Parameter name="Side" inherits_from_parent="1" content_type="3" value="Both" default_value="Both" custom_choice="0" tooltip="Choose the eye where the LED light is set." id="4">
+                                                    <Choice value="Both" />
+                                                    <Choice value="Left" />
+                                                    <Choice value="Right" />
+                                                </Parameter>
+                                                <Parameter name="Duration (s)" inherits_from_parent="1" content_type="2" value="0.1" default_value="0.1" min="0" max="5" tooltip="Transition&apos;s duration in seconds." id="5" />
+                                            </Box>
+                                            <Box name="Color Edit" id="16" localization="8" tooltip="Transmit a table of number [R,G,B] correponsding to the selected color." plugin="coloredit_plugin" x="105" y="47">
+                                                <bitmap>media/images/box/interaction/vocabulary.png</bitmap>
+                                                <script language="4">
+                                                    <content>
+                                                        <![CDATA[class MyClass(GeneratedClass):
+	def __init__(self):
+		GeneratedClass.__init__(self)
+
+	def onInput_onStart(self):
+		self.onStopped([255, 255, 255])]]>
+</content>
+                                                </script>
+                                                <pluginContent>
+                                                    <color>#ffffff</color>
+                                                </pluginContent>
+                                                <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                                                <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="To send the color on the output." id="2" />
+                                                <Output name="onStopped" type="2" type_size="3" nature="1" inner="0" tooltip="[R,G,B] with R, G and B between 0 and 255." id="3" />
+                                            </Box>
+                                            <Link inputowner="15" indexofinput="2" outputowner="16" indexofoutput="3" />
+                                            <Link inputowner="16" indexofinput="2" outputowner="0" indexofoutput="2" />
+                                            <Link inputowner="0" indexofinput="3" outputowner="15" indexofoutput="3" />
+                                        </Diagram>
+                                    </BehaviorKeyframe>
+                                </BehaviorLayer>
+                            </Timeline>
+                        </Box>
+                        <Box name="Error" id="9" localization="8" tooltip="The eyes&apos; LED are set red if there was an error" x="687" y="276">
+                            <bitmap>media/images/box/interaction/LED.png</bitmap>
+                            <script language="4">
+                                <content>
+                                    <![CDATA[]]>
+</content>
+                            </script>
+                            <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                            <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
+                            <Output name="onDone" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="3" />
+                            <Parameter name="Side" inherits_from_parent="0" content_type="3" value="Both" default_value="Both" custom_choice="0" tooltip="Choose the eye where the LED light is set." id="4">
+                                <Choice value="Both" />
+                                <Choice value="Left" />
+                                <Choice value="Right" />
+                            </Parameter>
+                            <Parameter name="Duration (s)" inherits_from_parent="0" content_type="2" value="0.1" default_value="0.1" min="0" max="5" tooltip="Transition&apos;s duration in seconds." id="5" />
+                            <Timeline enable="0">
+                                <BehaviorLayer name="behavior_layer1">
+                                    <BehaviorKeyframe name="keyframe1" index="1">
+                                        <Diagram>
+                                            <Box name="Eyes LEDs" id="15" localization="8" tooltip="Set the color of LEDs of robot&apos;s eyes." x="281" y="41">
+                                                <bitmap>media/images/box/interaction/LED.png</bitmap>
+                                                <script language="4">
+                                                    <content>
+                                                        <![CDATA[class MyClass(GeneratedClass):
+    def __init__(self):
+        GeneratedClass.__init__(self, False)
+
+    def onLoad(self):
+        self.ids = []
+        self.leds = ALProxy("ALLeds")
+
+    def onUnload(self):
+        #~ puts code for box cleanup here
+        pass
+
+    def onInput_color(self, p):
+        if( self.getParameter("Side") == "Left" ):
+            sGroup = "LeftFaceLeds"
+        elif( self.getParameter("Side") == "Right" ):
+            sGroup = "RightFaceLeds"
+        else:
+            sGroup = "FaceLeds"
+        id = self.leds.post.fadeRGB(sGroup, 256*256*p[0] + 256*p[1] + p[2], self.getParameter("Duration (s)"))
+        self.ids.append(id)
+        self.leds.wait(id, 0)
+        self.ids.remove(id)
+        if( self.ids == [] ):
+            self.onDone() # activate output of the box]]>
+</content>
+                                                </script>
+                                                <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                                                <Input name="color" type="2" type_size="3" nature="2" inner="0" tooltip="Color of robot&apos;s eyes." id="2" />
+                                                <Output name="onDone" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="3" />
+                                                <Parameter name="Side" inherits_from_parent="1" content_type="3" value="Both" default_value="Both" custom_choice="0" tooltip="Choose the eye where the LED light is set." id="4">
+                                                    <Choice value="Both" />
+                                                    <Choice value="Left" />
+                                                    <Choice value="Right" />
+                                                </Parameter>
+                                                <Parameter name="Duration (s)" inherits_from_parent="1" content_type="2" value="0.1" default_value="0.1" min="0" max="5" tooltip="Transition&apos;s duration in seconds." id="5" />
+                                            </Box>
+                                            <Box name="Color Edit" id="16" localization="8" tooltip="Transmit a table of number [R,G,B] correponsding to the selected color." plugin="coloredit_plugin" x="105" y="47">
+                                                <bitmap>media/images/box/interaction/vocabulary.png</bitmap>
+                                                <script language="4">
+                                                    <content>
+                                                        <![CDATA[class MyClass(GeneratedClass):
+	def __init__(self):
+		GeneratedClass.__init__(self)
+
+	def onInput_onStart(self):
+		self.onStopped([255, 0, 0])]]>
+</content>
+                                                </script>
+                                                <pluginContent>
+                                                    <color>#ff0000</color>
+                                                </pluginContent>
+                                                <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                                                <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="To send the color on the output." id="2" />
+                                                <Output name="onStopped" type="2" type_size="3" nature="1" inner="0" tooltip="[R,G,B] with R, G and B between 0 and 255." id="3" />
+                                            </Box>
+                                            <Link inputowner="15" indexofinput="2" outputowner="16" indexofoutput="3" />
+                                            <Link inputowner="16" indexofinput="2" outputowner="0" indexofoutput="2" />
+                                            <Link inputowner="0" indexofinput="3" outputowner="15" indexofoutput="3" />
+                                        </Diagram>
+                                    </BehaviorKeyframe>
+                                </BehaviorLayer>
+                            </Timeline>
+                        </Box>
+                        <Box name="Normal eyes" id="3" localization="8" tooltip="The eyes&apos; LED are set white" x="209" y="480">
+                            <bitmap>media/images/box/interaction/LED.png</bitmap>
+                            <script language="4">
+                                <content>
+                                    <![CDATA[]]>
+</content>
+                            </script>
+                            <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                            <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
+                            <Output name="onDone" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="3" />
+                            <Parameter name="Side" inherits_from_parent="0" content_type="3" value="Both" default_value="Both" custom_choice="0" tooltip="Choose the eye where the LED light is set." id="4">
+                                <Choice value="Both" />
+                                <Choice value="Left" />
+                                <Choice value="Right" />
+                            </Parameter>
+                            <Parameter name="Duration (s)" inherits_from_parent="0" content_type="2" value="0.1" default_value="0.1" min="0" max="5" tooltip="Transition&apos;s duration in seconds." id="5" />
+                            <Timeline enable="0">
+                                <BehaviorLayer name="behavior_layer1">
+                                    <BehaviorKeyframe name="keyframe1" index="1">
+                                        <Diagram>
+                                            <Box name="Eyes LEDs" id="15" localization="8" tooltip="Set the color of LEDs of robot&apos;s eyes." x="281" y="41">
+                                                <bitmap>media/images/box/interaction/LED.png</bitmap>
+                                                <script language="4">
+                                                    <content>
+                                                        <![CDATA[class MyClass(GeneratedClass):
+    def __init__(self):
+        GeneratedClass.__init__(self, False)
+
+    def onLoad(self):
+        self.ids = []
+        self.leds = ALProxy("ALLeds")
+
+    def onUnload(self):
+        #~ puts code for box cleanup here
+        pass
+
+    def onInput_color(self, p):
+        if( self.getParameter("Side") == "Left" ):
+            sGroup = "LeftFaceLeds"
+        elif( self.getParameter("Side") == "Right" ):
+            sGroup = "RightFaceLeds"
+        else:
+            sGroup = "FaceLeds"
+        id = self.leds.post.fadeRGB(sGroup, 256*256*p[0] + 256*p[1] + p[2], self.getParameter("Duration (s)"))
+        self.ids.append(id)
+        self.leds.wait(id, 0)
+        self.ids.remove(id)
+        if( self.ids == [] ):
+            self.onDone() # activate output of the box]]>
+</content>
+                                                </script>
+                                                <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                                                <Input name="color" type="2" type_size="3" nature="2" inner="0" tooltip="Color of robot&apos;s eyes." id="2" />
+                                                <Output name="onDone" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="3" />
+                                                <Parameter name="Side" inherits_from_parent="1" content_type="3" value="Both" default_value="Both" custom_choice="0" tooltip="Choose the eye where the LED light is set." id="4">
+                                                    <Choice value="Both" />
+                                                    <Choice value="Left" />
+                                                    <Choice value="Right" />
+                                                </Parameter>
+                                                <Parameter name="Duration (s)" inherits_from_parent="1" content_type="2" value="0.1" default_value="0.1" min="0" max="5" tooltip="Transition&apos;s duration in seconds." id="5" />
+                                            </Box>
+                                            <Box name="Color Edit" id="16" localization="8" tooltip="Transmit a table of number [R,G,B] correponsding to the selected color." plugin="coloredit_plugin" x="105" y="47">
+                                                <bitmap>media/images/box/interaction/vocabulary.png</bitmap>
+                                                <script language="4">
+                                                    <content>
+                                                        <![CDATA[class MyClass(GeneratedClass):
+	def __init__(self):
+		GeneratedClass.__init__(self)
+
+	def onInput_onStart(self):
+		self.onStopped([255, 255, 255])]]>
+</content>
+                                                </script>
+                                                <pluginContent>
+                                                    <color>#ffffff</color>
+                                                </pluginContent>
+                                                <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
+                                                <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="To send the color on the output." id="2" />
+                                                <Output name="onStopped" type="2" type_size="3" nature="1" inner="0" tooltip="[R,G,B] with R, G and B between 0 and 255." id="3" />
+                                            </Box>
+                                            <Link inputowner="15" indexofinput="2" outputowner="16" indexofoutput="3" />
+                                            <Link inputowner="16" indexofinput="2" outputowner="0" indexofoutput="2" />
+                                            <Link inputowner="0" indexofinput="3" outputowner="15" indexofoutput="3" />
+                                        </Diagram>
+                                    </BehaviorKeyframe>
+                                </BehaviorLayer>
+                            </Timeline>
+                        </Box>
+                        <Link inputowner="0" indexofinput="4" outputowner="2" indexofoutput="5" />
+                        <Link inputowner="4" indexofinput="2" outputowner="0" indexofoutput="2" />
+                        <Link inputowner="5" indexofinput="2" outputowner="6" indexofoutput="3" />
+                        <Link inputowner="2" indexofinput="2" outputowner="0" indexofoutput="2" />
+                        <Link inputowner="1" indexofinput="2" outputowner="2" indexofoutput="6" />
+                        <Link inputowner="2" indexofinput="4" outputowner="5" indexofoutput="5" />
+                        <Link inputowner="9" indexofinput="2" outputowner="2" indexofoutput="7" />
+                        <Link inputowner="8" indexofinput="2" outputowner="2" indexofoutput="8" />
+                        <Link inputowner="6" indexofinput="2" outputowner="0" indexofoutput="2" />
+                        <Link inputowner="5" indexofinput="2" outputowner="2" indexofoutput="9" />
+                        <Link inputowner="5" indexofinput="3" outputowner="2" indexofoutput="6" />
+                        <Link inputowner="3" indexofinput="2" outputowner="0" indexofoutput="2" />
+                    </Diagram>
+                </BehaviorKeyframe>
+            </BehaviorLayer>
+        </Timeline>
+    </Box>
+</ChoregrapheProject>
diff --git a/ga.pml b/ga.pml
new file mode 100644
index 0000000..8807940
--- /dev/null
+++ b/ga.pml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<Package name="testEmanuele" format_version="4">
+    <Manifest src="manifest.xml" />
+    <BehaviorDescriptions>
+        <BehaviorDescription name="behavior" src="behavior_1" xar="behavior.xar" />
+    </BehaviorDescriptions>
+    <Dialogs />
+    <Resources>
+        <File name="google-assistant" src="google-assistant.png" />
+    </Resources>
+    <Topics />
+    <IgnoredPaths />
+</Package>
diff --git a/google-assistant.png b/google-assistant.png
new file mode 100644
index 0000000..7a4e14d
Binary files /dev/null and b/google-assistant.png differ
diff --git a/manifest.xml b/manifest.xml
new file mode 100644
index 0000000..ea4b0c9
--- /dev/null
+++ b/manifest.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<package version="1.0.0" uuid="zoraga-65d457">
+ <names>
+  <name lang="en_US">ZoraGA</name>
+ </names>
+ <supportedLanguages>
+  <language>en_US</language>
+ </supportedLanguages>
+ <descriptionLanguages>
+  <language>en_US</language>
+ </descriptionLanguages>
+ <contents>
+  <behaviorContent path="behavior_1">
+   <nature>interactive</nature>
+   <permissions/>
+  </behaviorContent>
+ </contents>
+</package>