nodes:
### Camera
  - id: rerun
    custom:
      source: dora-rerun
      inputs:
        image: webcam/image
        textlog_llm: whisper/text_llm
        boxes2d: object_detection/bbox
        # textlog_llm: whisper/text_llm
        # textlog_policy: whisper/text_policy
      envs:
        IMAGE_WIDTH: 1920
        IMAGE_HEIGHT: 1080
        IMAGE_DEPTH: 3
        RERUN_MEMORY_LIMIT: 10%

  - id: robot
    custom:
      source: /home/peiji/anaconda3/envs/dora38/bin/python
      args: robot.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
      envs:
        IMAGE_WIDTH: 1920
        IMAGE_HEIGHT: 1080
  
  
  - id: object_detection
    custom:
      source: object_detection.py
      inputs:
        image: webcam/image
      outputs:
        - bbox
      envs:
        IMAGE_WIDTH: 1920
        IMAGE_HEIGHT: 1080

  
  - 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

  # - id: matplotlib
  #   custom:
  #     source: plot.py
  #     inputs:
  #       image: webcam/image
  #       # bbox: object_detection/bbox
  #     envs:
  #       IMAGE_WIDTH: 720
  #       IMAGE_HEIGHT: 1280