workflow.yaml

workflow:
  name: defense_ei_agents
  stages:
    - id: planner
      profile: planner/profile.yaml
      output: logs/defense_ei_plan.json
    - id: supervisor
      profile: supervisor/profile.yaml
      output: logs/defense_ei_atomic_task_info.json
    - id: coder
      profile: coder/profile.yaml
      output: logs/defense_ei_atomic_actions.py
    - id: judger
      profile: judger/profile.yaml
      output: logs/defense_ei_atomic_judgement.json
  runtime:
    robot: UR7e
    camera_inputs:
      initial_agent_images:
        global_image: logs/current_global_rgb.png
      phase_agent_images:
        global_image: logs/current_phase_global_rgb.png
        wrist_image: logs/current_phase_wrist_rgb.png
      global_image: logs/current_global_rgb.png
    retry_policy:
      restore_robot_to_initial_pose_on_failure: true
      continue_from_current_rgb_on_success: true