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ERS-110, 111

ERS-210[A], 220[A]
Programming AIBO with:

YART, RCodePlus
OpenR SDK

ERS-311[B], 312[B], 31L

ERS7
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[AiboHack] YART = Yet Another RCode Tool

YART = Yet Another RCode Tool

NOTE: This page describes YART in general and specifics for ERS-2x0 and ERS-31x.
Please refer to separate pages for other models:
  • For the ERS-110,111 - see the YART 11x page
  • For the ERS-7 - see the YART 7 page

    • Overview

    YART is a simple drag-and-drop tool for customizing the behavior of existing YART-enabled personalities.
    YART is not a replacement for more powerful RCODE programming tools like Master Studio or AbNet, but it is a great place to start.
    YART_APG (Audio Personality Generator) is a separate tool for converting audio files (.WAV files) into AIBO actions.

    Supported AIBOs

    Required Hardware:

    Installation:


    NOTE: If you install other non-YART personalities (eg: Disco or DogsLife) on top of it, you will replace the RCODE program.

    YART Tutorial

    After installation, you can go through the     YART Tutorial which will cover the basic operations, including how to add your own audio files (using YART_APG). Click Here to go to YART tutorial page.

    YART Overview

    The user interface is relatively simple:

    Step 1:

    On the upper left is the conditions tree ("When this happens"). Select a condition from this tree. You can expand or contract the groups.

    Step 2:

    On the upper right is the most important window, the code window ("AIBO does this"). This shows the RCODE statements that are executed when the selected condition happens. Read what is here, and decide if you like it or want to change it.

    Step 2B:

    If you don't like what is in the code window, grab it with the mouse and drag it out of the window (that will delete it).
    Most PLAY statements are followed by a WAIT statement. They go together, so delete both if you don't want them.

    Step 3:

    In the middle is a dropdown list of Action categories ("Available Actions"). When you pick a new Action category, the list below it fills with the available actions.

    Action categories include:

    Step 4:

    Browse through the Action list (below "Available Actions") and find one you want. Grab the item you want and drag it into the code window. It will expand to the appropriate RCODE statements. For most things this is usually: 
            PLAY ACTION system_action_name // comment
        WAIT

_or_
        PLAY ACTION+ user_action_name // comment
        WAIT
    NOTES:
    In this case "WAIT" will wait until all actions are completed (ie. the action performance is over).
    If "WAIT" is followed by a number, that is the number of milli-seconds to wait.
    Some actions have "_NOWAIT" in the name, because they repeat the same thing over and over. Use these with caution (you should stop them with "PLAY ACTION STOP", see "Standard"/"Stop playing").

    Step 5: Repeat

    Repeat the process to add more actions (step 4), or actions from a different catetegory (step 3&4) or for a different condition (repeat steps 1,2,3 & 4).

    When you are finally done, press the "Save RCODE program to memory stick" button and try out your creation in your AIBO.

    Step 6: Test, Repeat

    After testing it out in your AIBO, put the memory stick back into your PC, and run "\CUSTOM\YART" on the memory stick again. Do what is needed to fix or otherwise improve your creation.

    User Actions

    The "User Actions" list is empty when you first install YART. You can create your own user actions using Master Studio or YART_APG. You can also borrow user actions from existing personalities (like DogsLife or ObeyCat or Cartman).

    Please see the     YART Tutorial for how to turn your own audio files into user actions.

    See the YART Advanced page for how to borrow user actions from existing personalities.

    System Actions

    There are many model independent actions built into AIBO. Over 350 of them are named and provided by YART. The same action names will work in the ERS-210, ERS-220 and ERS-31x series AIBOs.
    These are built in system actions, and act smoothly. These are the essentially the same actions used in the main "AiboLife" personality (and will be used where appropriate in future DogsLife personalities)
    If you don't care about the ERS-31X, you have an addition 225 ERS-2x0 specific actions available to you as well (see below under "O2_" actions).

    System Action Categories

    System Actions are categorized by how they are used by AIBO. This is not necessarily what the performance does (but more what AIBO means to say).

    You can pick the category in the YART "Available Actions" dropdown list. The "System: " actions are listed below.

    Model Independent Actions


    If you create an RCODE program using these actions, you program will immediately work on any other model AIBO with no translation.

    For example: ALONE_GROOM0_SIT = Aibo sitting alone grooming himself
    EMOTION_ANGRY1_SLP = Aibo showing anger, when in the sleeping position
    PHYSIO_EXCRETE0_STD = Aibo excreting (peeing) while standing
     When used in RCODE, the main category is up front (see above), followed by what the action is used for, followed by a posture name. _STD = AIBO is standing
    _SIT = AIBO is sitting
    _SLP = AIBO is sleeping (laying down)
    _STN = AIBO is on the station
    _ANY = any posture
    _SND = audio only (posture doesn't matter)
     If there is more than one action in a given category, they are numbered (eg EMOTION_ANGRY1_SLP, EMOTION_ANGRY4_SLP, EMOTION_ANGRY4_SLP2) Try out the variations to see which one you prefer.

    NOTE: the action may perform differently on different model AIBOs, but the intent should be the same.

    "O2_" ERS-2x0 System Actions

    An additional 200+ actions are provided that only work on the ERS-210 and ERS-220. Do not use these actions if you want your personality to work on the ERS-31X. The names for these actions start with "O2_" followed by the name used in the DogsLife source.