Adding data

graphs/dataflow.yml

@@ -68,6 +68,7 @@ nodes:
       inputs:
         position: robot/position
         bbox: object_detection/bbox
+        tick: dora/timer/millis/100
       outputs:
         - control
         - gimbal_control

graphs/out/018e2f11-b850-7a66-8cee-39922407a10a/bbox.parquet

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+size 25815

graphs/out/018e2f11-b850-7a66-8cee-39922407a10a/control.parquet

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+size 12183

graphs/out/018e2f11-b850-7a66-8cee-39922407a10a/gimbal_control.parquet

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graphs/out/018e2f11-b850-7a66-8cee-39922407a10a/image.parquet

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graphs/out/018e2f11-b850-7a66-8cee-39922407a10a/position.parquet

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+size 2648

graphs/out/018e2f12-a644-76a9-a295-4786aa798619/audio.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/bbox.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/chatgpt_output_file.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/control.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/gimbal_control.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/image.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/mistral_output_file.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/position.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/raw_file.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/saved_file.parquet

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graphs/out/018e2f12-a644-76a9-a295-4786aa798619/whisper_text.parquet

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operators/planning_op.py

@@ -1,3 +1,4 @@
+import time
 import numpy as np
 import pyarrow as pa
 from dora import DoraStatus
@@ -25,6 +26,7 @@ CAMERA_HEIGHT = 540
 class Operator:
     def __init__(self):
         self.bboxs = []
+        self.time = time.time()
 
     def on_event(
         self,
@@ -33,11 +35,11 @@ class Operator:
     ) -> DoraStatus:
         global X, Y, SPEED, PITCH, ROTATION, RGB, BRIGHTNESS, GOAL_OBJECTIVES, GIMBAL_POSITION_GOAL
         if dora_event["type"] == "INPUT":
-            if dora_event["id"] == "bbox":
+            if dora_event["id"] == "tick":
+                self.time = time.time()
+            elif dora_event["id"] == "bbox":
                 bboxs = dora_event["value"].to_numpy()
-                self.bboxs = np.reshape(
-                    bboxs, (-1, 6)
-                )  # [ min_x, min_y, max_x, max_y, confidence, label ]
+                self.bboxs = np.reshape(bboxs, (-1, 6))
 
             elif dora_event["id"] == "position":
                 [x, y, z, gimbal_pitch, gimbal_yaw] = dora_event["value"].to_numpy()