Minor fix

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/audio.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebca29caaf9b31a5b0020ee65813ae10bc35ce747296a63bea1fc441bddcc7fc
+size 1072271

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/bbox.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c74de00b789415af3d6d63a2eef064c44abc690b8d1fe04f826075c1d2153232
+size 1313937

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/chatgpt_output_file.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25c5133673ea8668d22e162401de943e8f85cb598beb68fcab5dbcc571275ebb
+size 57108

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/control.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:672305a7b8f41191496bcd6b813ae7282ad44d99b45a4b44b09b8591da750cd2
+size 104745

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/gimbal_control.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd4ecec74cc7c6ddbbfca3c0b7c3eda4327d9d524f0dfd617f5ea252516f524
+size 246080

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/image.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e338dcdf20f3943da09f9e759eab519d607e2dd6929b85058733340f62ac0f14
+size 2079418828

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/mistral_output_file.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7005d202a4869f2f98c8267154dbb6779795815431fe198931372f113fd5951c
+size 25494

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/position.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6275e33fc62872c53cfd11d07d84f4ccf7e1aeda7c457877cda078d5ddd7ba91
+size 12610

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/raw_file.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b9ae8a636b4b240cddc74c2cddc6378d1ea3fda7f10ec39b47e8ad92e9f6a0
+size 21246

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/saved_file.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a03620bae0c3e37a5216ba41dcf1fa63039d5f91ef4237ba97983aaca11d7e3
+size 22195

graphs/out/018e2f30-0e19-7e80-9a3d-367dfd51d513/whisper_text.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:713f938151374148d5958d28769ba56812aafc27711aed8cb5d945b037026d2d
+size 3360

operators/planning_op.py

@@ -27,6 +27,7 @@ class Operator:
     def __init__(self):
         self.bboxs = []
         self.time = time.time()
+        self.position = [0, 0, 0]
 
     def on_event(
         self,
@@ -43,16 +44,21 @@ class Operator:
 
             elif dora_event["id"] == "position":
                 [x, y, z, gimbal_pitch, gimbal_yaw] = dora_event["value"].to_numpy()
-
+                self.position = [x, y, z]
                 direction = np.clip(
-                    np.array(GOAL_OBJECTIVES) - np.array([x, y, z]), -1, 1
+                    np.array(GOAL_OBJECTIVES) - np.array(self.position), -1, 1
                 )
 
-                send_output(
-                    "control",
-                    pa.array([direction[0], direction[1], 0, SPEED, 0]),
-                    dora_event["metadata"],
-                )
+                if any(abs(direction) > 0.1):
+                    x = direction[0]
+                    y = direction[1]
+                    z = direction[2]
+
+                    send_output(
+                        "control",
+                        pa.array([x, y, 0, SPEED, 0]),
+                        dora_event["metadata"],
+                    )
 
                 send_output(
                     "gimbal_control",

operators/robot.py

@@ -27,6 +27,8 @@ class Operator:
         self.position = [0, 0, 0]
         self.gimbal_position = [0, 0]
         self.event = None
+        self.brightness = 0
+        self.rgb = [0, 0, 0]
 
     def on_event(
         self,
@@ -48,7 +50,6 @@ class Operator:
                     and not (self.event._event.isSet() and self.event.is_completed)
                 ):
                     [x, y, z, xy_speed, z_speed] = dora_event["value"].to_numpy()
-                    print(f"received control: {x, y, z, xy_speed, z_speed}", flush=True)
                     self.event = self.ep_robot.chassis.move(
                         x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed
                     )
@@ -72,28 +73,30 @@ class Operator:
                         gimbal_yaw_speed,
                     ] = dora_event["value"].to_numpy()
 
-                    self.event = self.ep_robot.gimbal.moveto(
-                        pitch=gimbal_pitch,
-                        yaw=gimbal_yaw,
-                        pitch_speed=gimbal_pitch_speed,
-                        yaw_speed=gimbal_yaw_speed,
-                    )
-                    self.gimbal_position[0] = gimbal_pitch
-                    self.gimbal_position[1] = gimbal_yaw
+                    if self.gimbal_position != [gimbal_pitch, gimbal_yaw]:
+                        self.event = self.ep_robot.gimbal.moveto(
+                            pitch=gimbal_pitch,
+                            yaw=gimbal_yaw,
+                            pitch_speed=gimbal_pitch_speed,
+                            yaw_speed=gimbal_yaw_speed,
+                        )
+                        self.gimbal_position[0] = gimbal_pitch
+                        self.gimbal_position[1] = gimbal_yaw
 
             elif dora_event["id"] == "blaster":
                 [brightness] = dora_event["value"].to_numpy()
-                if brightness > 0:
+                if brightness != self.brightness:
                     self.ep_robot.blaster.set_led(
                         brightness=brightness, effect=blaster.LED_ON
                     )
-                else:
-                    self.ep_robot.blaster.set_led(brightness=0, effect=blaster.LED_OFF)
+                    self.brightness = brightness
             elif dora_event["id"] == "led":
-                print("received led", flush=True)
                 [r, g, b] = dora_event["value"].to_numpy()
-                self.ep_robot.led.set_led(
-                    comp=led.COMP_ALL, r=r, g=g, b=b, effect=led.EFFECT_ON
-                )
+                rgb = [r, g, b]
+                if rgb != self.rgb:
+                    self.ep_robot.led.set_led(
+                        comp=led.COMP_ALL, r=r, g=g, b=b, effect=led.EFFECT_ON
+                    )
+                    self.rgb = rgb
 
         return DoraStatus.CONTINUE