operators/policy.py

from dora import DoraStatus
import numpy as np
import pyarrow as pa
from idefics2_utils import ask_vlm
import pyttsx3


KITCHEN = np.array([[0.5, 0], [0.5, -0.5], [1.0, -1.0]]).ravel()
HOME = np.array([[0.5, -0.5], [0, 0]]).ravel()


## Policy Operator
class Operator:
    def __init__(self):
        engine = pyttsx3.init("espeak")
        voices = engine.getProperty("voices")
        engine.setProperty("voice", voices[3].id)
        self.engine = engine

    def speak(self, text: str):
        self.engine.say(text)

    # Ask vision model for information
    def ask_model(self, image: np.ndarray, text: str) -> str:
        text = ask_vlm(image, text)
        return "Yes, " in text

    def on_event(
        self,
        dora_event: dict,
        send_output,
    ) -> DoraStatus:
        if dora_event["type"] == "INPUT":
            id = dora_event["id"]
            # On initialization
            if id == "init":
                send_output("set_goal", pa.array([]))

            # On destination goal reached
            elif id == "goal_reached":
                image = dora_event["value"].to_numpy().reshape((540, 960, 3))
                pass

        return DoraStatus.CONTINUE