| # 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 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| """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", "tdmpc", "vqbet", "pi0", "pi05"] | |
| # TODO: Add all other robots | |
| SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so100_follower"] | |