Workflow Nodes

A workflow is a graph of nodes wired together. Every node has a job, a set of input ports (data it needs), and output ports (data it produces). You draw a connection from one node’s output to the next node’s input, and the workflow passes data down the graph — starting from a single trigger.

The Runs on column below tells you where each node executes. Edge nodes are compiled into a worker that runs on your device; a few nodes (camera, audio, and recording) only run there. Cloud nodes run only in the hosted workflow runner. Either nodes can do both — they run in the cloud by default, and compile into the edge worker when the workflow is edge-targeted, so a single workflow can span both. See Cloud, edge, or both.

Nodes are organised into ten categories. The same categories appear in the editor palette, so this page mirrors what you see when you build.

Triggers

Start a workflow on an event, schedule, or incoming message. A workflow has exactly one entry point.

Node	What it does	Runs on
`manual`	Start the workflow by hand from the editor.	Cloud
`mission`	Start when a mission begins or completes.	Cloud
`schedule`	Start on a timer or cron schedule.	Cloud
`webhook`	Start when an HTTP request arrives at the workflow’s URL.	Cloud
`mqtt`	Start when an MQTT message lands on a twin topic.	Cloud
`zenoh`	Start when a message arrives on a Zenoh channel.	Edge
`event`	Start when a business/system event fires.	Cloud
`alert`	Start when a matching alert fires on a twin.	Edge
`camera_frame`	Run once per camera frame from a twin.	Edge
`audio_track`	Run for every buffered audio chunk from a twin’s microphone.	Edge

Data sources

Pull a snapshot or reading on demand, part-way through a run.

Node	What it does	Runs on
`data_source`	Grab one image, depth map, video, audio clip, or telemetry reading from a sensor, IP camera, or twin.	Either
`twin`	Load a twin’s details and the control commands its assigned controller understands.	Either
`get_pose`	Read a scene object’s or twin’s live position and rotation.	Cloud

Perception

Turn raw signals into reliable observations.

Node	What it does	Runs on
`audio_assistant`	Detect speech (voice activity) or acoustic events and cut clean audio segments.	Edge
`wake_word_engine`	Wait for a wake word, then stream the audio that follows.	Edge
`barcode_reader`	Decode QR, Data Matrix, EAN/UPC, Code 128, and other codes from a frame.	Either
`object_pose`	Estimate a detected object’s 3D position using camera depth.	Edge

Transform & routing

Reshape, match, and render data as it moves through the graph.

Node	What it does	Runs on
`json_parser`	Parse a JSON string into structured data (with optional AI repair of malformed JSON).	Cloud
`fuzzy_matcher`	Match noisy text (like a voice transcript) to a list of known commands.	Either
`annotate`	Draw detection boxes, masks, and labels on an image.	Either
`anonymize`	Blur, pixelate, or redact detected regions (e.g. faces) in a frame.	Either

State & memory

Persist artifacts so they show up later in your workspace.

Node	What it does	Runs on
`create_asset`	Build a catalog asset from an uploaded mesh or generated GLB.	Cloud
`edit_asset`	Add a point-of-interest marker to an existing asset.	Cloud
`create_attachment`	Save a file capture (image, video, audio, data) onto a twin, asset, or environment.	Either
`update_attachment`	Attach analysis results — text, detections, or an annotated image — to a capture.	Either
`video_tagger`	Pull frames from a recording at a fixed rate or hand-picked.	Cloud

Intelligence

Use models to interpret, reason, or predict. One unified node covers every model kind.

Node	What it does	Runs on
`call_model`	Run a model — an LLM, a vision-language model, an object detector, speech-to-text, diffusion, or image-to-mesh.	Either

Decision & control flow

Choose what happens next.

Node	What it does	Runs on
`conditional`	Branch on a comparison (equals, greater than, contains, regex, …).	Either
`detection_event_gate`	Let detections through by class, with modes and a cooldown.	Either
`timed_condition`	Fire only when a signal holds for long enough, times out, or debounces.	Either
`spatial_filter`	Keep only detections that fall inside a drawn zone.	Either
`loop`	Repeat the connected downstream nodes once for each item in a list.	Cloud

Actuation

Execute physical or twin-side actions.

Node	What it does	Runs on
`twin_control`	Move a twin through one or more environment waypoints.	Either
`virtual_controller`	Send a controller command to a twin over MQTT.	Either
`send_controller_command`	Issue a specific command through a controller policy (e.g. a timed drive burst).	Either
`recorder`	Start or stop audio/video recording on a twin.	Edge
`online_controller_lifecycle`	Start or stop the twin’s assigned controller.	Cloud

Integration

Talk to external systems and run your own logic.

Node	What it does	Runs on
`http_request`	Call an external HTTP API.	Either
`send_email`	Send an email.	Cloud
`send_mqtt`	Publish JSON to a twin MQTT topic.	Edge
`send_ros2`	Publish a typed message onto a ROS 2 topic.	Edge
`code`	Run your own Python on the edge worker.	Edge

Observability & safety

Guard, observe, and alert on what the workflow sees.

Node	What it does	Runs on
`send_alert`	Raise a business or technical alert on a twin.	Either

How nodes connect

Nodes are wired left to right. A trigger fires, each node fills its inputs from the outputs wired into it, does its job, and passes its outputs onward. A voice-controlled rover, for example, chains an audio trigger through speech-to-text, a planner model, and an actuation node:

audio_track → call_model (speech-to-text) → call_model (plan) → send_controller_command

For the full detail on any node — every input and output port, parameters, and edge vs. cloud behavior — see the Workflows reference.

Workflows overview

What workflows are, the three ways to build one, and running in sim or real.

Workflows reference

The full node reference, trigger types, and editor walkthrough.

Getting started

Connecting to hardware

Tutorials · Code (SDK)

Tutorials · No-code (Workflows)

SDKs and Tools

Core Features

Built by the Community

Help & Support

Triggers

Data sources

Perception

Transform & routing

State & memory

Intelligence

Decision & control flow

Actuation

Integration

Observability & safety

How nodes connect

Workflows overview

Workflows reference

​Triggers

​Data sources

​Perception

​Transform & routing

​State & memory

​Intelligence

​Decision & control flow

​Actuation

​Integration

​Observability & safety

​How nodes connect

Workflows overview

Workflows reference

Triggers

Data sources

Perception

Transform & routing

State & memory

Intelligence

Decision & control flow

Actuation

Integration

Observability & safety

How nodes connect