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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/peter/miniconda3/envs/robomaster/bin/python
args: ../operators/robot.py
inputs:
tick: dora/timer/millis/750
planning_control: planning/control
led: whisper/led
outputs:
- control_reply
- position
- 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_policy
- text_llm
- led
- id: llm
operator:
python: ../operators/llm_op.py
inputs:
text: whisper/text_llm
- id: policy
operator:
python: ../operators/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: ../operators/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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