| import pyarrow as pa | |
| from dora import DoraStatus | |
| from utils import ask_vlm, speak | |
| from time import sleep | |
| class Operator: | |
| def __init__(self): | |
| self.location = ["KITCHEN", "LIVING_ROOM"] | |
| pass | |
| def ask_model(self, image, text: str) -> str: | |
| text = ask_vlm(image, text).lower() | |
| return text | |
| def speak(self, text: str): | |
| speak(text) | |
| def on_event(self, event: dict, send_output) -> DoraStatus: | |
| if event["type"] == "INPUT": | |
| id = event["id"] | |
| # On initialization | |
| if id == "init": | |
| send_output("go_to", pa.array([""])) | |
| elif id == "reached_living_room": | |
| image = event["value"].to_numpy().reshape((540, 960, 3)) | |
| pass | |
| elif id == "reached_kitchen": | |
| image = event["value"].to_numpy().reshape((540, 960, 3)) | |
| pass | |
| return DoraStatus.CONTINUE | |