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nodes:
### Camera
# - id: rerun
# custom:
# source: dora-rerun
# inputs:
# image: webcam/image
# textlog_llm: whisper/text_llm
# textlog_policy: whisper/text_policy
# envs:
# IMAGE_WIDTH: 1280
# IMAGE_HEIGHT: 720
# IMAGE_DEPTH: 3
# RERUN_MEMORY_LIMIT: 10%
# - id: robot
# custom:
# source: /home/peiji/anaconda3/envs/dora38/bin/python
# args: robot_minimize.py
# inputs:
# tick: dora/timer/millis/750
# planning_control: planning/control
# led: whisper/led
# outputs:
# - control_reply
# - position
- id: webcam
custom:
source: opencv_stream.py
outputs:
- image
- id: whisper
custom:
source: whisper_op.py
inputs:
audio: dora/timer/millis/1000
outputs:
- text_policy
- text_llm
- led
- id: llm
operator:
python: llm_op.py
inputs:
text: whisper/text_llm
- id: policy
operator:
python: policy.py
inputs:
speech: whisper/text_policy
# reached_kitchen: planning/reached_kitchen
# reached_living_room: planning/reached_living_room
# reached_office: planning/reached_office
outputs:
- go_to
# - id: planning
# operator:
# python: planning_op.py
# inputs:
# # position: robot/position
# # control_reply: robot/control_reply
# set_goal: policy/go_to
# image:
# source: webcam/image
# queue_size: 1
# outputs:
# - control
# - reached_kitchen
# - reached_living_room
# - reached_office
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