operators/policy.py

import numpy as np
import pyarrow as pa
from dora import DoraStatus
from utils import ask_vlm, speak
from time import sleep

LOCATION = ["LIVING_ROOM", "KITCHEN"]


## Policy Operator
class Operator:
    def __init__(self):
        pass

    def read(self, image, text: str) -> str:
        text = ask_vlm(image, text)
        return text

    def speak(self, text: str):
        speak(text)

    def check(self, image, text: str) -> bool:
        text = ask_vlm(image, text)
        return "Yes, " in text

    def on_event(self, event: dict, send_output) -> DoraStatus:
        if event["type"] == "INPUT":
            id = event["id"]
            # On initialization
            if id == "init":
                send_output("go_to", pa.array([""]))
            elif id == "reached_living_room":
                image = event["value"].to_numpy().reshape((540, 960, 3))
                pass
            elif id == "reached_kitchen":
                image = event["value"].to_numpy().reshape((540, 960, 3))
                pass

        return DoraStatus.CONTINUE