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nodes: |
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- id: rerun |
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custom: |
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source: dora-rerun |
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inputs: |
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image: webcam/image |
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textlog_llm: whisper/text_llm |
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boxes2d: object_detection/bbox |
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envs: |
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IMAGE_WIDTH: 1920 |
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IMAGE_HEIGHT: 1080 |
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IMAGE_DEPTH: 3 |
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RERUN_MEMORY_LIMIT: 10% |
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|
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- id: robot |
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custom: |
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source: /home/peiji/anaconda3/envs/dora38/bin/python |
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args: robot.py |
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inputs: |
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tick: dora/timer/millis/750 |
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planning_control: planning/control |
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led: whisper/led |
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outputs: |
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- control_reply |
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- position |
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|
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- id: webcam |
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custom: |
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source: opencv_stream.py |
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outputs: |
|
- image |
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envs: |
|
IMAGE_WIDTH: 1920 |
|
IMAGE_HEIGHT: 1080 |
|
|
|
|
|
- id: object_detection |
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custom: |
|
source: object_detection.py |
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inputs: |
|
image: webcam/image |
|
outputs: |
|
- bbox |
|
envs: |
|
IMAGE_WIDTH: 1920 |
|
IMAGE_HEIGHT: 1080 |
|
|
|
|
|
- id: whisper |
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custom: |
|
source: whisper_op.py |
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inputs: |
|
audio: dora/timer/millis/1000 |
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outputs: |
|
- text_policy |
|
- text_llm |
|
- led |
|
|
|
- id: llm |
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operator: |
|
python: llm_op.py |
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inputs: |
|
text: whisper/text_llm |
|
|
|
- id: policy |
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operator: |
|
python: policy.py |
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inputs: |
|
speech: whisper/text_policy |
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reached_kitchen: planning/reached_kitchen |
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reached_living_room: planning/reached_living_room |
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reached_office: planning/reached_office |
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outputs: |
|
- go_to |
|
|
|
- id: planning |
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operator: |
|
python: planning_op.py |
|
inputs: |
|
position: robot/position |
|
control_reply: robot/control_reply |
|
set_goal: policy/go_to |
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image: |
|
source: webcam/image |
|
queue_size: 1 |
|
outputs: |
|
- control |
|
- reached_kitchen |
|
- reached_living_room |
|
- reached_office |
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