SoftBank Robotics documentation What's new in NAOqi 2.8?

Creating Dialog boxes

See also: QiChat


This tutorial starts like the Hello World 3 - using Dialog topic in Choregraphe tutorial, then goes deeper in mastering Dialog boxes and QiChat scripting.

1 - Hello World

Step Action
Start Choregraphe.

Drag the Speech > Speech Settings > Set Language box on the grey area.

Click the parameter-button parameter button and set the language as English.

../../../_images/helloworld_cho_dlg_00.png

Right click the grey area and choose, in the contextual menu, Create a new Box > Dialog....

../../../_images/helloworld_cho_dlg_01.png

Click the Add a new topic button, then type a name without spaces, for example: HelloWorld.

Click the Add button, then the OK button.

../../../_images/helloworld_cho_dlg_02.png

Create links as below.

../../../_images/helloworld_cho_dlg_05.png

In the Project content, double click the HelloWorld_enu.top file.

The Script editor appears.

../../../_images/helloworld_cho_dlg_06.png

Type those rules:

u:(Hello) Hello, young Padawan

u:(Good morning) Let's start a wonderful day
../../../_images/helloworld_cho_dlg_07.png

Testing on a simulated robot

Step Action

Make sure you are connected on a virtual robot.

For further details, see: How to connect Choregraphe to a simulated robot.

Click the play-button Play button.

In the Dialog panel, enter “Hello” and press Enter.

You can see the result both in Dialog panel and in the Robot view.

../../../_images/dialog_tuto2.png

Testing on a real robot

Step Action

Make sure you are connected on a real robot.

For further details, see: How to connect Choregraphe to a robot.

Click the play-button Play button.

Wait for the signal indicating that the robot is listening:

  • A “bip” sound is played and
  • Eye LEDs become Blue and turn.

Say “Hello”.

The robot says “hello young padavan”.

You can also see the result both in Dialog panel and in the Robot view.

2 - “Hi”, “Hello”... in one rule

Step Action

To make your first rule a little bit more complex, enrich your script:

u:([hi hello wassup]) hello young padawan
u:(["tell me" "give me"] your name) of course, my name is NAO
../../../_images/dialog_tuto3.png

To go further, see: Delimiters.

3 - Connecting QiChat script and animations

Step Action

Add these new rules:

u:(["can you" please] sit down {now}) ok i sit down $sit=1
u:(["can you" please] stand up {now}) ok i stand up $standup=1

Add two outputs to the Hello world box.

  • one called “sit”,
  • one called “standup”.
../../../_images/dialog_tuto4.png

For further details, see: How to add/remove inputs, outputs, parameters in a box.

Note: here we use Bang type, an easy way to propagate an event. If you need a typed variable, see: Sending QiChat variable through box output.

Add two Programming > Time > Wait boxes and connect them to the outputs you have created.

Add and connect a Movement > Posture > Sit Down and a Movement > Posture > Stand Up boxes.

../../../_images/dialog_tuto5.png

To go further, see: Variables and events.

4 - Jumping from one topic to another

Step Action
In a new Project, add an Speech > Speech Settings > Set Language box.

Create two different Dialog topic boxes, called Food and Sport with the following content:

topic: ~Food()
language: English

u:(let's talk about food) OK, guess what I like

u:^private(do you like fish) yes and sea food too
u:^private(do you like meat) no, I don't
topic: ~Sport()
language: English

u:(let's talk about sport) OK, guess what sport I like

u:^private(do you like tennis) no, I can't play tennis
u:^private(do you like yoga) yes, would you like to do yoga with me?

Link the tree boxes as follows:

../../../_images/dialog_tuto6.png

Test it.

To jump from a topic to another and give it the focus, use the one of their user rules:

In our example : “Let’s talk about food” or “Let’s talk about sport”.

Once a topic (food or sport) has the focus:

  • all its private user rules are activated,
  • while the private user rules of the other topic are not.

To go further, see: Activated / deactivated.

Advanced tips

Sending QiChat variable through box output

Be aware: in QiChat, a variable has no defined type.

Workaround:

  • Use a Bang Output if you are just looking for sending a signal to another box.

  • Use a Dynamic Output, if you want to use the value of the variable in another box; then cast it into the type you want in your box script:

    def onInput_dyn(self, p):
        try:
            p = int(p)
        except ValueError:
           # If p is a string you may have an exception.
           pass
    

To go further

You can enrich the dialog with other, more complex rules.

To go further see: QiChat - Syntax.