nodes:
   ### Camera
  - id: plot_bot
    operator:
      python: ../operators/plot.py
      inputs:
        image: webcam/image
        position: robot/position

  - id: robot
    operator:
      python:  ../operators/robot.py
      inputs:
        tick: dora/timer/millis/750
        planning_control: planning/control
      outputs:
        - control_reply
        - position

  - id: webcam
    custom:
      source: ../operators/opencv_stream.py
      outputs:
        - image

  - id: policy
    operator:
      python: ../operators/policy.py
      inputs: 
        init: dora/timer/millis/750
        goal_reached: planning/goal_reached
      outputs:
        - go_to
        - reloaded

  - 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
        - goal_reached