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