# SoftBank Robotics documentation What's new in NAOqi 2.8?

# Extractors management

## Why Autonomous Life manages Extractors

Autonomous Life starts and stops extractors to provide it with Context about the environment. This data is used in Launch trigger conditions that you can use for autonomously starting Activities.

Depending on States, different extractors are started to optimize the robot’s goals, with consideration for CPU consumption.

## Extractors managed by Autonomous Life

Extractor | Active states | Parameter details
--- | --- | ---
ALMood | Solitary & Interactive | ALMood updates once per second (1Hz). For further details, see: Activated during Autonomous Life.
ALPeoplePerception | Solitary | Default subscription parameters. `ALPeoplePerception::setMaximumDetectionRange` set to 3.5. All other People Perception parameters are default.
ALMovementDetection | Solitary | Default subscription parameters. All Movement Detection parameters are default.
ALEngagementZones | Solitary | Default subscription parameters. NAO: `ALEngagementZonesProxy::setFirstLimitDistance` set to 1.5. `ALEngagementZonesProxy::setSecondLimitDistance` set to 2.5. `ALEngagementZonesProxy::setLimitAngle` set to 90. Pepper: `ALEngagementZonesProxy::setFirstLimitDistance` set to 0.8. `ALEngagementZonesProxy::setSecondLimitDistance` set to 0.9. `ALEngagementZonesProxy::setLimitAngle` set to 90.
ALGazeAnalysis | Solitary | Default subscription parameters. All Gaze Analysis parameters are default.
ALWavingDetection | Solitary | Default subscription parameters. All Waving Detection parameters are default.

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