Changing policy destination to keyword

operators/policy.py

@@ -4,8 +4,7 @@ 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()
+LOCATION = ["LIVING_ROOM", "KITCHEN"]
 
 
 ## Policy Operator
@@ -13,18 +12,23 @@ 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 ask_model(self, image, text: str) -> bool:
+    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([]))
+                send_output("go_to", pa.array([""]))
             elif id == "reached_living_room":
                 image = event["value"].to_numpy().reshape((540, 960, 3))
                 pass