The Twin (twin) node reads a digital twin and its assigned controller policy and exposes them as structured outputs. Use it upstream of Fuzzy Matcher so voice pipelines know which command strings are valid for that robot, and to surface controller identity/mode to downstream nodes.
Palette category: Data Sources. Runs on cloud and edge (edge workers resolve the policy via the Cyberwave API).
Inspector
- Digital Twin — combobox selector.
twin_uuid is stored in node parameters, not the generic input-mapping row.
Policy resolution
The node resolves the active policy from:
- Twin
controller_policy FK, or
twin.metadata.controller_policy_uuid
If neither is set, execution fails with a clear error.
Outputs
| Field | Type | Description |
|---|
name | string | Twin display name |
asset | string | Asset slug from policy metadata (or first linked asset) |
device | string | Input device from policy metadata (e.g. keyboard) |
control_actuations | array | Locomotion actuation slugs from metadata.keyboard_bindings (move_forward, turn_left, …) |
control_labels | array | Human-readable labels from all keyboard bindings |
controller_name | string | metadata.controller_name on the assigned controller policy |
controller_type | string | metadata.controller_type on the assigned controller policy |
control_mode | string | metadata.control_mode on the assigned controller policy |
control_actuations only includes locomotion slugs (WASD-style). Non-locomotion bindings (lights, camera, take_photo) appear in control_labels but not in control_actuations.
Fuzzy Matcher wiring
| Twin output | Fuzzy Matcher input | Notes |
|---|
control_actuations | candidates | Match STT against actuation slugs (move_forward) |
control_labels | candidates | Match STT against spoken labels (Move Forward) |
Execution targets
| Target | Notes |
|---|
| Cloud | WorkflowUtils._execute_twin_node — reads twin + policy from Postgres |
| Edge | Code emitter calls client.twins.get + controller-policies API |
