saorsa-robotics/.env.example at main · saorsa-labs/saorsa-robotics · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
# ---- Shared ----
LOG_DIR="$HOME/.saorsa/logs"
# STT (Kyutai Moshi)
KYUTAI_MOSHI_URL=ws://localhost:8000/stream
KYUTAI_API_KEY=
HUGGINGFACEHUB_API_TOKEN=
HF_INFERENCE_URL=https://api-inference.huggingface.co/models/kyutai/stt-2.6b-en

# ---- Policy server (GPU host) ----
POLICY_SERVER_HOST=127.0.0.1
POLICY_SERVER_PORT=8080
POLICY_SERVER_SCHEME=http
POLICY_SERVER_URL="$POLICY_SERVER_SCHEME://$POLICY_SERVER_HOST:$POLICY_SERVER_PORT"

# ---- Rewarder ----
REWARDER_HOST=127.0.0.1
REWARDER_PORT=18080
REWARDER_SCHEME=http
REWARDER_URL="$REWARDER_SCHEME://$REWARDER_HOST:$REWARDER_PORT"

# ---- Cameras (per-arm overrides in YAML) ----
CAM_WIDTH=1280
CAM_HEIGHT=720
CAM_FPS=20

# ---- Per-arm policy server ports (default to base POLICY_SERVER_PORT + arm index) ----
ARM01_POLICY_PORT=8081
ARM02_POLICY_PORT=8082
ARM03_POLICY_PORT=8083
ARM04_POLICY_PORT=8084

# ---- Per-arm camera indices (adjust based on your hardware) ----
ARM01_CAM_INDEX=0
ARM02_CAM_INDEX=1
ARM03_CAM_INDEX=2
ARM04_CAM_INDEX=3

# ---- Async policy execution ----
ACTIONS_PER_CHUNK=40
CHUNK_SIZE_THRESHOLD=0.6