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- nodes:
- - id: lebai-client
- build: pip install -e ../../../node-hub/lebai-client
- path: lebai-client
- inputs:
- movec:
- source: interpolation/movec
- queue_size: 1
- movej:
- source: interpolation/movej
- queue_size: 1
- claw: interpolation/claw
- stop: interpolation/stop
- save: interpolation/save
- go_to: interpolation/go_to
- record: interpolation/record
- cut: interpolation/cut
- play: interpolation/play
- teach: interpolation/teach
- end_teach: interpolation/end_teach
-
- - id: keyboard-listener
- build: pip install dora-keyboard
- path: dora-keyboard
- outputs:
- - char
-
- - id: dora-microphone
- build: pip install dora-microphone
- path: dora-microphone
- outputs:
- - audio
-
- - id: dora-distil-whisper
- build: pip install dora-distil-whisper
- path: dora-distil-whisper
- inputs:
- input: dora-microphone/audio
- outputs:
- - text
-
- - id: key-interpolation
- path: ../nodes/key_interpolation.py
- inputs:
- keyboard: keyboard-listener/char
- outputs:
- - text
-
- - id: interpolation
- path: ../nodes/interpolation.py
- inputs:
- # keyboard: keyboard-listener/char
- # text: dora-distil-whisper/text
- vlm: dora-qwenvl/text
- text: dora-qwenvl-recorder/text
- outputs:
- - movec
- - movej
- - claw
- - stop
- - save
- - record
- - play
- - go_to
- - cut
- - teach
- - end_teach
-
- - id: camera
- build: pip install opencv-video-capture
- path: opencv-video-capture
- inputs:
- tick: dora/timer/millis/16
- outputs:
- - image
- env:
- CAPTURE_PATH: 8
- IMAGE_WIDTH: 640
- IMAGE_HEIGHT: 480
-
- - id: plot
- build: cargo install dora-rerun --locked
- path: dora-rerun
- inputs:
- image:
- source: camera/image
- queue_size: 1
- text_vlm: dora-qwenvl/text
- env:
- IMAGE_WIDTH: 640
- IMAGE_HEIGHT: 480
-
- - id: dora-qwenvl-recorder
- build: pip install -e ../../../dora/node-hub/llama-factory-recorder
- path: llama-factory-recorder
- inputs:
- image:
- source: camera/image
- queue_size: 1
- ground_truth: key-interpolation/text
- outputs:
- - text
- env:
- DEFAULT_QUESTION: Respond with left, right, forward, back, up or go home in order for the robotic arm to get the cup.
- LLAMA_FACTORY_ROOT_PATH: /home/peter/Documents/work/LLaMA-Factory/data
-
- - id: dora-qwenvl
- build: pip install -e ../../../dora/node-hub/dora-qwenvl
- path: dora-qwenvl
- inputs:
- image:
- source: camera/image
- queue_size: 1
- tick:
- source: key-interpolation/text
- queue_size: 1
- text: terminal-input/data
- outputs:
- - text
- env:
- CUSTOM_MODEL_PATH: /home/peter/Documents/work/LLaMA-Factory/saves/qwen2_vl-2b/lora-dora-demo/sft
- DEFAULT_QUESTION: Respond with left, right, forward, back, up or go home in order for the robotic arm to get the cup.
-
- - id: terminal-input
- build: pip install ../../node-hub/terminal-input
- path: dynamic
- outputs:
- - data
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