| 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 | |