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- nodes:
- - id: dora-reachy1
- build: pip install -e ../../../node-hub/dora-reachy1
- path: dora-reachy1
- inputs:
- head_action: text-interpolation/head_action
- antenna_action: text-interpolation/antenna_action
- gripper_action: text-interpolation/gripper_action
- r_arm_action: text-interpolation/r_arm_action
-
- - id: keyboard-listener
- build: pip install dora-keyboard
- path: dora-keyboard
- outputs:
- - char
-
- - id: key-interpolation
- path: ../nodes/key_interpolation.py
- inputs:
- keyboard: keyboard-listener/char
- outputs:
- - r_arm_action
- - head_action
- - text
-
- - id: text-interpolation
- path: ../nodes/text_interpolation.py
- inputs:
- text: dora-qwenvl/tick
- text_2: key-interpolation/text
- outputs:
- - head_action
- - antenna_action
- - gripper_action
- - r_arm_action
-
- - id: camera
- build: pip install -e ../../../node-hub/dora-reachy1
- path: dora-reachy1-vision
- 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
- textlog_vlm: dora-qwenvl/tick
- env:
- IMAGE_WIDTH: 640
- IMAGE_HEIGHT: 480
-
- - id: dora-qwenvl
- build: pip install -e ../../../../dora/node-hub/dora-qwenvl
- path: dora-qwenvl
- inputs:
- image:
- source: camera/image
- queue_size: 1
- tick: dora/timer/millis/2000
- outputs:
- - text
- - tick
- env:
- DEFAULT_QUESTION: Respond with right, left, forward, backward, open, or close to grab the trash.
- CUSTOM_MODEL_PATH: /home/peter/Documents/work/LLaMA-Factory/saves/qwen2_vl-2b/lora-dora-demo-trash-2/sft
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