> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.
# Workflow Nodes
> Every node you can drop on the workflow canvas, grouped by palette category, with what it does and where it runs.
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](/overview/features/workflows#cloud-edge-or-both-in-one-graph).
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](/feature-reference/workflows).
What workflows are, the three ways to build one, and running in sim or real.
The full node reference, trigger types, and editor walkthrough.