|
|
nodes: |
|
|
- id: plot |
|
|
custom: |
|
|
source: dora-rerun |
|
|
inputs: |
|
|
image: webcam/image |
|
|
textlog_whisper: whisper/text |
|
|
envs: |
|
|
IMAGE_WIDTH: 1280 |
|
|
IMAGE_HEIGHT: 720 |
|
|
IMAGE_DEPTH: 3 |
|
|
RERUN_MEMORY_LIMIT: 10% |
|
|
|
|
|
- id: policy |
|
|
operator: |
|
|
python: ../operators/policy.py |
|
|
inputs: |
|
|
init: llm/init |
|
|
reached_kitchen: robot/reached_kitchen |
|
|
reached_living_room: robot/reached_living_room |
|
|
reached_office: robot/reached_office |
|
|
outputs: |
|
|
- go_to |
|
|
|
|
|
- id: llm |
|
|
operator: |
|
|
python: ../operators/llm_op.py |
|
|
inputs: |
|
|
text: whisper/text |
|
|
outputs: |
|
|
- init |
|
|
|
|
|
- id: robot |
|
|
custom: |
|
|
source: /home/peter/miniconda3/envs/robomaster/bin/python |
|
|
args: ../operators/robot_minimize.py |
|
|
inputs: |
|
|
|
|
|
go_to: policy/go_to |
|
|
outputs: |
|
|
- reached_kitchen |
|
|
- reached_living_room |
|
|
- reached_office |
|
|
|
|
|
- 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 |
|
|
|
|
|
|
