[robot]
hardware = "R1_LITE"
enable_publish = [
    "left_arm",
    "left_gripper",
    #"left_ee_pose",
    "right_arm",
    "right_gripper",
    #"right_ee_pose",
    "torso",
    #"chassis",
]


[basic]
use_ehi = false
control_frequency = 17.0
step_mode = "sync" # Optional["sync", "async"]
action_steps = 18

[model]
ckpt_dir = "/xxxx/fold_towel_g0fast"

processor = "default"
use_trt = false
is_torch_compile = false

[websocket]
use_websocket = true
host = "0.0.0.0"
port = 8080

[trajectory]
ensemble_mode="none"
execution_mode="JOINT_STATE"

[instruction]
use_vlm = false
bbox_as_instruction = false
image_condition_lang_prefix = false
pp_lower_half = false
image_as_condition = false