| nodes: |
| - id: robot |
| operator: |
| |
| |
| python: ../operators/robot.py |
| inputs: |
| blaster: |
| source: llm/blaster |
| queue_size: 1 |
| led: |
| source: llm/led |
| queue_size: 1 |
| control: |
| source: planning/control |
| queue_size: 1 |
| gimbal_control: |
| source: planning/gimbal_control |
| queue_size: 1 |
| tick: |
| source: dora/timer/millis/100 |
| queue_size: 1 |
| outputs: |
| - position |
|
|
| - id: bot_webcam |
| custom: |
| source: ../operators/opencv_stream.py |
| outputs: |
| - image |
|
|
| - id: object_detection |
| operator: |
| python: ../operators/object_detection.py |
| inputs: |
| image: bot_webcam/image |
| outputs: |
| - bbox |
|
|
| |
| - id: webcam |
| operator: |
| python: ../operators/webcam.py |
| inputs: |
| tick: |
| source: dora/timer/millis/50 |
| queue_size: 1 |
| outputs: |
| - image |
|
|
| - id: plot_webcam |
| operator: |
| python: ../operators/plot.py |
| inputs: |
| image: webcam/image |
| text: whisper/text |
|
|
|
|
| - id: plot_bot |
| operator: |
| python: ../operators/plot.py |
| inputs: |
| image: bot_webcam/image |
| keyboard_buffer: keyboard/buffer |
| user_message: keyboard/submitted |
| assistant_message: llm/assistant_message |
| bbox: object_detection/bbox |
|
|
|
|
| - id: planning |
| operator: |
| python: ../operators/planning_op.py |
| inputs: |
| position: robot/position |
| bbox: object_detection/bbox |
| tick: dora/timer/millis/100 |
| outputs: |
| - control |
| - gimbal_control |
| - led |
| - blaster |
|
|
| |
| - id: keyboard |
| custom: |
| source: ../operators/keyboard_op.py |
| outputs: |
| - buffer |
| - submitted |
| - record |
| - ask |
| - send |
| - change |
| inputs: |
| recording: whisper/text |
|
|
| - id: microphone |
| operator: |
| python: ../operators/microphone_op.py |
| inputs: |
| record: keyboard/record |
| outputs: |
| - audio |
|
|
| - id: whisper |
| operator: |
| python: ../operators/whisper_op.py |
| inputs: |
| audio: microphone/audio |
| outputs: |
| - text |
|
|
| |
| |
| |
| |
| |
| |
| |
| |
| |
|
|
| - id: llm |
| operator: |
| python: ../operators/llm_op.py |
| inputs: |
| |
| assistant: keyboard/ask |
| message_sender: keyboard/send |
| outputs: |
| - modified_file |
| - assistant_message |
| - line |
| - control |
| - led |
| - blaster |
| - rotation |
|
|
| - id: file_saver |
| operator: |
| python: ../operators/file_saver_op.py |
| inputs: |
| llm_output_file: llm/modified_file |
| outputs: |
| - saved_file |
|
|
| - id: dora-record |
| custom: |
| source: dora-record |
| inputs: |
| llm_output_file: llm/modified_file |
| |
| saved_file: file_saver/saved_file |
| audio: microphone/audio |
| whisper_text: whisper/text |
| bbox: object_detection/bbox |
| image: cv2_encoder/encoded_image |
| position: robot/position |
| control: planning/control |
| gimbal_control: planning/gimbal_control |
|
|
| |
| - id: cv2_encoder |
| operator: |
| python: ../operators/cv2_encoder_op.py |
| inputs: |
| image: bot_webcam/image |
| outputs: |
| - encoded_image |
|
|
