nodes:
  - id: plot
    custom:
      source: dora-rerun
      inputs:
        image: webcam/image
        textlog_whisper: whisper/text
      envs:
        IMAGE_WIDTH: 1280
        IMAGE_HEIGHT: 720
        IMAGE_DEPTH: 3
        RERUN_MEMORY_LIMIT: 10%

  - id: policy
    operator:
      python: ../operators/policy.py
      inputs: 
        init: llm/init
        reached_kitchen: robot/reached_kitchen
        reached_living_room: robot/reached_living_room
        reached_office: robot/reached_office
      outputs:
        - go_to
  
  - id: llm
    operator:
      python: ../operators/llm_op.py
      inputs:
        text: whisper/text
      outputs:
        - init
  
  - id: robot
    custom:
      source: /home/peter/miniconda3/envs/robomaster/bin/python
      args: ../operators/robot_minimize.py 
      inputs:
        # control: idefics2/control
        go_to: policy/go_to
      outputs:
        - reached_kitchen
        - reached_living_room
        - reached_office

  - 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