| nodes: | |
| - id: plot | |
| custom: | |
| source: dora-rerun | |
| inputs: | |
| image: webcam/image | |
| textlog_whisper: whisper/text | |
| envs: | |
| IMAGE_WIDTH: 1280 | |
| IMAGE_HEIGHT: 720 | |
| IMAGE_DEPTH: 3 | |
| RERUN_MEMORY_LIMIT: 10% | |
| - id: policy | |
| operator: | |
| python: ../operators/policy.py | |
| inputs: | |
| init: llm/init | |
| reached_kitchen: robot/reached_kitchen | |
| reached_living_room: robot/reached_living_room | |
| reached_office: robot/reached_office | |
| outputs: | |
| - go_to | |
| - id: llm | |
| operator: | |
| python: ../operators/llm_op.py | |
| inputs: | |
| text: whisper/text | |
| outputs: | |
| - init | |
| - id: robot | |
| custom: | |
| source: /home/peter/miniconda3/envs/robomaster/bin/python | |
| args: ../operators/robot_minimize.py | |
| inputs: | |
| # control: idefics2/control | |
| go_to: policy/go_to | |
| outputs: | |
| - reached_kitchen | |
| - reached_living_room | |
| - reached_office | |
| - id: webcam | |
| custom: | |
| source: ../operators/opencv_stream.py | |
| outputs: | |
| - image | |
| - id: whisper | |
| custom: | |
| source: ../operators/whisper_op.py | |
| inputs: | |
| audio: dora/timer/millis/1000 | |
| outputs: | |
| - text | |