| nodes: | |
| ### Camera | |
| # - id: rerun | |
| # custom: | |
| # source: dora-rerun | |
| # inputs: | |
| # image: webcam/image | |
| # textlog_llm: whisper/text_llm | |
| # textlog_policy: whisper/text_policy | |
| # envs: | |
| # IMAGE_WIDTH: 1280 | |
| # IMAGE_HEIGHT: 720 | |
| # IMAGE_DEPTH: 3 | |
| # RERUN_MEMORY_LIMIT: 10% | |
| # - id: robot | |
| # custom: | |
| # source: /home/peiji/anaconda3/envs/dora38/bin/python | |
| # args: robot_minimize.py | |
| # inputs: | |
| # tick: dora/timer/millis/750 | |
| # planning_control: planning/control | |
| # led: whisper/led | |
| # outputs: | |
| # - control_reply | |
| # - position | |
| - id: webcam | |
| custom: | |
| source: opencv_stream.py | |
| outputs: | |
| - image | |
| - id: whisper | |
| custom: | |
| source: whisper_op.py | |
| inputs: | |
| audio: dora/timer/millis/1000 | |
| outputs: | |
| - text_policy | |
| - text_llm | |
| - led | |
| - id: llm | |
| operator: | |
| python: llm_op.py | |
| inputs: | |
| text: whisper/text_llm | |
| - id: policy | |
| operator: | |
| python: policy.py | |
| inputs: | |
| speech: whisper/text_policy | |
| # reached_kitchen: planning/reached_kitchen | |
| # reached_living_room: planning/reached_living_room | |
| # reached_office: planning/reached_office | |
| outputs: | |
| - go_to | |
| # - id: planning | |
| # operator: | |
| # python: 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 | |