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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
### Second Camera
- 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
## Speech to text
- 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
## Code Modifier
- id: vectordb
operator:
python: ../operators/sentence_transformers_op.py
inputs:
query: keyboard/change
saved_file: file_saver/saved_file
outputs:
- raw_file
- id: llm
operator:
python: ../operators/llm_op.py
inputs:
code_modifier: vectordb/raw_file
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
raw_file: vectordb/raw_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
### Second Camera
- id: cv2_encoder
operator:
python: ../operators/cv2_encoder_op.py
inputs:
image: bot_webcam/image
outputs:
- encoded_image
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