# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
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# Unless required by applicable law or agreed to in writing, software
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"""Client side: The environment evolves with a time resolution equal to 1/fps"""

DEFAULT_FPS = 30

"""Server side: Running inference on (at most) 1/fps"""
DEFAULT_INFERENCE_LATENCY = 1 / DEFAULT_FPS

"""Server side: Timeout for observation queue in seconds"""
DEFAULT_OBS_QUEUE_TIMEOUT = 2

# All action chunking policies
SUPPORTED_POLICIES = ["act", "smolvla", "diffusion", "pi0", "tdmpc", "vqbet"]

# TODO: Add all other robots
SUPPORTED_ROBOTS = ["so100_follower", "so101_follower"]