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dora/examples/reachy2/demo-dev.yml

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  1. nodes:

  2.   - id: dora-microphone

  3.     build: pip install -e ../../node-hub/dora-microphone

  4.     path: dora-microphone

  5.     inputs:

  6.       tick: dora/timer/millis/2000

  7.     outputs:

  8.       - audio

  9. 

  10.   - id: dora-vad

  11.     build: pip install -e ../../node-hub/dora-vad

  12.     path: dora-vad

  13.     inputs:

  14.       audio: dora-microphone/audio

  15.     outputs:

  16.       - audio

  17. 

  18.   - id: dora-distil-whisper

  19.     build: pip install -e ../../node-hub/dora-distil-whisper

  20.     path: dora-distil-whisper

  21.     inputs:

  22.       input: dora-vad/audio

  23.     outputs:

  24.       - text

  25.     env:

  26.       TARGET_LANGUAGE: english

  27.       TRANSLATE: true

  28. 

  29.   - id: reachy-mobile-base

  30.     build: pip install -e ../../node-hub/dora-reachy2

  31.     path: dora-reachy2-mobile-base

  32.     inputs:

  33.       action_base: state_machine/action_base

  34.     outputs:

  35.       - response_base

  36.     env:

  37.       ROBOT_IP: 172.17.134.85

  38. 

  39.   - id: reachy-left-arm

  40.     build: pip install -e ../../node-hub/dora-reachy2

  41.     path: dora-reachy2-left-arm

  42.     inputs:

  43.       pose: state_machine/action_l_arm

  44.     outputs:

  45.       - response_l_arm

  46.     env:

  47.       ROBOT_IP: 172.17.134.85

  48. 

  49.   - id: reachy-right-arm

  50.     build: pip install -e ../../node-hub/dora-reachy2

  51.     path: dora-reachy2-right-arm

  52.     inputs:

  53.       pose: state_machine/action_r_arm

  54.     outputs:

  55.       - response_r_arm

  56.     env:

  57.       ROBOT_IP: 172.17.134.85

  58. 

  59.   - id: reachy-camera

  60.     build: pip install -e ../../node-hub/dora-reachy2

  61.     path: dora-reachy2-camera

  62.     inputs:

  63.       tick: dora/timer/millis/50

  64.     outputs:

  65.       - image_right

  66.       - image_left

  67.       - image_depth

  68.       - depth

  69.     env:

  70.       ROBOT_IP: 172.17.134.85

  71. 

  72.   - id: reachy-head

  73.     build: pip install -e ../../node-hub/dora-reachy2

  74.     path: dora-reachy2-head

  75.     inputs:

  76.       boxes2d: parse_bbox/bbox_face

  77.       look: state_machine/look

  78.     env:

  79.       ROBOT_IP: 172.17.134.85

  80. 

  81.   #- id: plot

  82.   #build: pip install -e ../../node-hub/dora-rerun

  83.   #path: dora-rerun

  84.   #inputs:

  85.   #camera_left/image_right: reachy-camera/image_right

  86.   #camera_torso/image: reachy-camera/image_depth

  87.   #text_response: dora-qwenvl/text

  88.   #text_whisper: dora-distil-whisper/text

  89.   #camera_torso/boxes2d: parse_bbox/bbox

  90.   #camera_left/boxes2d_face: parse_bbox/bbox_face

  91.   #env:

  92.   #RERUN_MEMORY_LIMIT: 5%

  93. 

  94.   - id: dora-qwenvl

  95.     build: pip install -e ../../node-hub/dora-qwen2-5-vl

  96.     path: dora-qwen2-5-vl

  97.     inputs:

  98.       image_depth: reachy-camera/image_depth

  99.       image_left: reachy-camera/image_left

  100.       text_1: dora/timer/millis/500

  101.       text_2: state_machine/text_vlm

  102.     outputs:

  103.       - text

  104.     env:

  105.       #ADAPTER_PATH: /home/peter/Documents/work/LLaMA-Factory/saves/qwen2.5_vl-felix/lora/sft/checkpoint-558

  106.       DEFAULT_QUESTION: grab human.

  107.       IMAGE_RESIZE_RATIO: "0.5"

  108.       # ACTIVATION_WORDS: grab pick give output take catch grabs picks gives output takes catches have

  109.       #SYSTEM_PROMPT: You're a robot.

  110. 

  111.   - id: parse_bbox

  112.     path: parse_bbox.py

  113.     inputs:

  114.       text: dora-qwenvl/text

  115.     outputs:

  116.       - bbox

  117.       - bbox_face

  118.       - action_arm

  119.     env:

  120.       IMAGE_RESIZE_RATIO: "0.5"

  121. 

  122.   - id: box_coordinates

  123.     build: pip install -e ../../node-hub/dora-boxes2d-to-pose

  124.     path: dora-boxes2d-to-pose

  125.     inputs:

  126.       depth: reachy-camera/depth

  127.       boxes2d: parse_bbox/bbox

  128.     outputs:

  129.       - pose

  130. 

  131.   - id: keyboard

  132.     build: pip install -e ../../node-hub/dora-keyboard

  133.     path: dora-keyboard

  134.     inputs:

  135.       tick: dora/timer/millis/1000

  136.     outputs:

  137.       - char

  138. 

  139.   - id: state_machine

  140.     path: state_machine.py

  141.     inputs:

  142.       text: dora-distil-whisper/text

  143.       response_base: reachy-mobile-base/response_base

  144.       response_r_arm: reachy-right-arm/response_r_arm

  145.       response_l_arm: reachy-left-arm/response_l_arm

  146.       pose: box_coordinates/pose

  147.     outputs:

  148.       - text_vlm

  149.       - action_r_arm

  150.       - action_base

  151.       - look

  152.       - action_l_arm

  153.     env:

  154.       ACTIVATION_WORDS: grab pick give output take catch grabs picks gives output takes catches have