nodes:
   ### Camera
  - id: plot_bot
    operator:
      python: ../operators/plot.py
      inputs:
        image: webcam/image
        assistant_message: vlm/assistant_message
        keyboard_buffer: keyboard/buffer
        user_message: keyboard/submitted

  - id: vlm
    operator:
      python: ../operators/idefics2_op.py
      inputs: 
        image:
          source: webcam/image
          queue_size: 1
        instruction: keyboard/submitted
        control_reply: robot/control_reply
      outputs:
        - assistant_message

  - id: robot
    operator:
      python: 
        source: ../operators/robot.py
        conda_env: robomaster
      inputs:
        tick: dora/timer/millis/750
        control: keyboard/submitted
      outputs:
        - control_reply

  - id: webcam
    custom:
      source: ../operators/opencv_stream.py
      outputs:
        - image
  
  - id: keyboard
    custom:
      source: ../operators/keyboard_op.py
      outputs:
        - buffer
        - submitted

  - id: whisper
    operator:
      python: ../operators/whisper_op.py
      inputs:
        audio: microphone/audio
      outputs:
        - text

  - id: microphone
    operator:
      python: ../operators/microphone_op.py
      inputs:
        record: keyboard/submitted
      outputs:
        - audio