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# Come with me Dialog

Developed at [NLP Centre](https://nlp.fi.muni.cz/en), [FI MU](https://www.fi.muni.cz/index.html.en) for [Karel Pepper](https://nlp.fi.muni.cz/trac/pepper)

This is a dialog application, in both Czech and English, that enables the robot to come with a person hand in hand.

Start with "Pepper, come with me." / "Karle, pojď se mnou"

## Installation

* [make and install](https://nlp.fi.muni.cz/trac/pepper/wiki/InstallPkg) the package as usual for the Pepper robot

<?xml version="1.0" encoding="UTF-8" ?>

<Package name="dialog_coming" format_version="4">

    <Manifest src="manifest.xml" />

    <BehaviorDescriptions/>

    <Dialogs>

        <Dialog name="dlg_coming" src="dlg_coming/dlg_coming.dlg" />

    </Dialogs>

    <Resources>

        <File name="icon" src="icon.png" />

        <File name="dialog_coming_service" src="scripts/dialog_coming_service.py" />

        <File name="__init__" src="scripts/stk/__init__.py" />

        <File name="events" src="scripts/stk/events.py" />

        <File name="logging" src="scripts/stk/logging.py" />

        <File name="runner" src="scripts/stk/runner.py" />

        <File name="services" src="scripts/stk/services.py" />

    </Resources>

    <Topics>

        <Topic name="dlg_coming_czc" src="dlg_coming/dlg_coming_czc.top" topicName="dlg_coming" language="cs_CZ" />

        <Topic name="dlg_coming_enu" src="dlg_coming/dlg_coming_enu.top" topicName="dlg_coming" language="en_US" />

    </Topics>

    <IgnoredPaths>

        <Path src=".metadata" />

    </IgnoredPaths>

</Package>

multilanguage:dlg_coming

  enu:dlg_coming_enu.top

  czc:dlg_coming_czc.top

topic: ~dlg_coming()

language: czc

concept:(call_robot_name) [Karle Pepře]

u:(e:FrontTactilTouched)

\pau=100\

u:(e:RearTactilTouched)

\pau=100\

u:(~call_robot_name [pojď poď] se mnou) Vem mě za ruku ^sCall(ALMotionComing.comeWithUser())

u:(~call_robot_name ["[pojď poď] ke mně" "sleduj mě" "následuj mě"]) Okej ^sCall(ALMotionComing.trackUser())

u:^private({[ještě pořád]} mě {[ještě pořád]} [sleduješ následuješ]) ^call(ALMotionComing.isTracking())

    c1:(true) Ano

    c1:(_*) Ne

u:^private([stop dost stačí]) ^call(ALMotionComing.isTracking())

    c1:(true) Jasně ^sCall(ALMotionComing.stopTrackingUser())

    c1:(_*) Okej

topic: ~dlg_coming()

language: enu

concept:(call_robot_name) [Karel Pepper]

u:(e:FrontTactilTouched)

\pau=100\

u:(e:RearTactilTouched)

\pau=100\

u:(~call_robot_name come with me) Catch my hand ^sCall(ALMotionComing.comeWithUser())

u:(~call_robot_name ["come to me" "follow me" "track me"]) Okay ^sCall(ALMotionComing.trackUser())

u:^private(are you {still} [following tracking] me) ^call(ALMotionComing.isTracking())

    c1:(true) Yes

    c1:(_*) No

u:^private([stop enough]) ^call(ALMotionComing.isTracking())

    c1:(true) No problem ^sCall(ALMotionComing.stopTrackingUser())

    c1:(_*) Okay