nodes:
  - id: plot
    custom:
      source: dora-rerun
      inputs:
        image: webcam/image
        textlog_whisper: whisper/text
        textlog_vlm: idefics2/speak
      envs:
        IMAGE_WIDTH: 1280
        IMAGE_HEIGHT: 720
        IMAGE_DEPTH: 3
        RERUN_MEMORY_LIMIT: 10%

  - id: idefics2
    operator:
      python: ../operators/idefics2_op_demo.py
      inputs: 
        image:
          source: webcam/image
          queue_size: 1
        text: whisper/text
      outputs:
        - speak
        - control
  
  - id: robot
    custom:
      source: /home/peter/miniconda3/envs/robomaster/bin/python
      args: ../operators/robot_minimize.py 
      inputs:
        control: idefics2/control
        led: reload/led

  - 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

  - id: parler
    operator:
      python:  ../operators/parler_op.py
      inputs:
        text: 
          source: idefics2/speak
          queue_size: 1
  
  - id: reload
    operator:
      python: ../operators/reload.py
      inputs: 
        image: dora/timer/millis/500
      outputs:
        - led