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

  - id: robot
    operator:
      python: 
        source: ../operators/robot.py
        conda_env: robomaster
      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
    operator:
      python: ../operators/whisper_op.py
      inputs:
        audio: dora/timer/millis/1000
      outputs:
        - text
        - led

  - id: llm
    operator:
      python: ../operators/llm_op.py
      inputs:
        text: whisper/text
        reloaded: policy/reloaded
      outputs:
        - init

  - id: policy
    operator:
      python: ../operators/policy.py
      inputs: 
        init: llm/init
        reached_kitchen: planning/reached_kitchen
        reached_living_room: planning/reached_living_room
        reached_office: planning/reached_office
      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
        - reached_kitchen
        - reached_living_room
        - reached_office