132 lines
3.9 KiB
YAML
132 lines
3.9 KiB
YAML
nodes:
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- id: zed_camera_cpp
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build: bash -lc "cmake -S dora_zed_cpp -B dora_zed_cpp/build && cmake --build dora_zed_cpp/build"
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path: dora_zed_cpp/build/dora_zed_cpp
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env:
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ZED_RESOLUTION: "720"
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ZED_FPS: "15"
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ZED_DEPTH_MODE: "NEURAL"
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ZED_DEPTH_MIN_MM: "10"
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ZED_DEPTH_MAX_MM: "600"
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ZED_DEPTH_FILL: "false"
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ZED_FLIP: "ON"
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ZED_WARMUP_FRAMES: "30"
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inputs:
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tick: dora/timer/millis/100
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outputs:
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- image_bgr
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- camera_info
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- point_cloud
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- id: ulite6
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build: uv pip install -e dora_ulite6
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path: dora_ulite6/dora_ulite6/main.py
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inputs:
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tick: dora/timer/millis/10
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command: voice/robot_cmd
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outputs:
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- tcp_pose
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- status
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env:
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ROBOT_IP: "192.168.1.192"
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DEFAULT_SPEED: "30"
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DEFAULT_UNITS: "mm"
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API_HOST: "0.0.0.0"
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API_PORT: "9000"
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VACUUM_ENABLED: "true"
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# Initial position on startup: "home", "pose", or "none"
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# Set to "none" - voice control handles initial positioning
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INIT_MODE: "none"
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- id: iobridge
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build: |
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uv venv -p 3.12 --seed --allow-existing
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uv pip install -e dora_iobridge
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path: dora_iobridge/dora_iobridge/main.py
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env:
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VIRTUAL_ENV: ./.venv
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WS_HOST: "0.0.0.0"
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WS_PORT: "9001"
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inputs:
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text_in: voice/voice_out
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data_in: voice/scene_update
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tick: dora/timer/millis/100
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outputs:
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- text_out
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- id: detector
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build: |
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uv venv -p 3.12 --seed --allow-existing
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uv pip install -e dora_yolo_object_detector
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path: dora_yolo_object_detector/dora_yolo_object_detector/main.py
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env:
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VIRTUAL_ENV: ./.venv
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IMAGE_INPUT: "image_bgr"
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POINT_CLOUD_INPUT: "point_cloud"
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POSE_INPUT: "tcp_pose"
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OBJECTS_OUTPUT: "objects"
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IMAGE_OUTPUT: "image_annotated"
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CALIBRATION_FILE: "calibration_ulite6_zed.npz"
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DETECTOR_WEIGHTS: "trained_models/yolo8n.pt"
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CONFIG_FILE: "config.toml"
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ROI_TOP_LEFT: "500,230"
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ROI_BOTTOM_RIGHT: "775,510"
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SIZE_THRESHOLD: "4200"
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DETECT_EVERY_N: "3"
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MIN_DEPTH_MM: "10"
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MAX_DEPTH_MM: "600"
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inputs:
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image_bgr: zed_camera_cpp/image_bgr
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point_cloud: zed_camera_cpp/point_cloud
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tcp_pose: ulite6/tcp_pose
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tick: dora/timer/millis/100
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outputs:
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- objects
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- image_annotated
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- id: voice
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build: |
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uv venv -p 3.12 --seed --allow-existing
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uv pip install -e dora_voice_control
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path: dora_voice_control/dora_voice_control/main.py
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env:
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VIRTUAL_ENV: ./.venv
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ROBOT_TYPE: "vacuum" # "vacuum" or "gripper"
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OBJECTS_INPUT: "objects"
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POSE_INPUT: "tcp_pose"
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STATUS_INPUT: "status"
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COMMAND_OUTPUT: "robot_cmd"
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CONFIG_FILE: "config.toml"
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# Map Spanish command names to detector class names
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CLASS_MAP: '{"cilindro": "cylinder", "cubo": "cube", "estrella": "star", "caja": "box", "amarillo": "yellow", "rojo": "red", "azul": "blue", "blanco": "white", "grande": "big", "pequeno": "small"}'
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VOICE_IN_INPUT: "voice_in"
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VOICE_OUT_OUTPUT: "voice_out"
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SCENE_OUTPUT: "scene_update"
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TCP_OFFSET_MM: "63.0"
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APPROACH_OFFSET_MM: "50.0"
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STEP_MM: "20.0"
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DEFAULT_ROLL: "180.0"
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DEFAULT_PITCH: "0.0"
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DEFAULT_YAW: "0.0"
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DRY_RUN: "false"
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# Initial position (used on startup and reset command)
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INIT_ON_START: "true"
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INIT_X: "300.0"
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INIT_Y: "0.0"
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INIT_Z: "350.0"
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INIT_ROLL: "180.0"
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INIT_PITCH: "0.0"
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INIT_YAW: "0.0"
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IMAGE_INPUT: "image_annotated"
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IMAGE_WIDTH: "1280"
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IMAGE_HEIGHT: "720"
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API_ENABLED: "true"
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API_PORT: "9002"
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inputs:
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objects: detector/objects
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tcp_pose: ulite6/tcp_pose
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status: ulite6/status
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voice_in: iobridge/text_out
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image_annotated: detector/image_annotated
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tick: dora/timer/millis/100
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outputs:
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- robot_cmd
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- voice_out
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- scene_update
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