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

LIVING_ROOM = np.array([[1.0, 0.0]]).ravel()
KITCHEN = np.array([[0.0, -0.2], [-1.0, -0.3], [-2.0, -0.5]]).ravel()


## Policy Operator
class Operator:
    def speak(self, text: str):
        speak(text)

    def ask_model(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"]
            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