| nodes: | |
| ### Camera | |
| - id: plot_bot | |
| operator: | |
| python: ../operators/plot.py | |
| inputs: | |
| image: webcam/image | |
| user_message: whisper/text | |
| position: robot/position | |
| - id: robot | |
| operator: | |
| python: | |
| source: ../operators/robot.py | |
| conda_env: robomaster | |
| inputs: | |
| tick: dora/timer/millis/750 | |
| planning_control: planning/control | |
| outputs: | |
| - control_reply | |
| - position | |
| - id: webcam | |
| custom: | |
| source: ../operators/opencv_stream.py | |
| outputs: | |
| - image | |
| - id: whisper | |
| operator: | |
| python: ../operators/whisper_op.py | |
| inputs: | |
| audio: dora/timer/millis/1000 | |
| outputs: | |
| - text | |
| - id: llm | |
| operator: | |
| python: ../operators/llm_op.py | |
| inputs: | |
| text: whisper/text | |
| reloaded: policy/reloaded | |
| outputs: | |
| - init | |
| - id: policy | |
| operator: | |
| python: ../operators/policy.py | |
| inputs: | |
| init: llm/init | |
| goal_reached: planning/goal_reached | |
| outputs: | |
| - go_to | |
| - reloaded | |
| - id: planning | |
| operator: | |
| python: ../operators/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 | |
| - goal_reached | |