export TASK_NAME="pi05_pour_full"
export OPENPI_REPO="${OPENPI_REPO:-/home/khuyen/DTU-Internship/vla_ur5/openpi}"
export OPENPI_VENV="${OPENPI_VENV:-/home/khuyen/DTU-Internship/vla_ur5/.venvs/openpi}"
export CHECKPOINT_ROOT="${CHECKPOINT_ROOT:-/home/khuyen/DTU-Internship/vla_ur5/checkpoints}"
export CONFIG="${CONFIG:-pi05_pour_force_depth_joint_full_5090}"
export MODEL_NAME="${MODEL_NAME:-pi05_pour_full}"
export CHECKPOINT_DIR="${CHECKPOINT_DIR:-${CHECKPOINT_ROOT}/baseline_pi05_full_pour/30000}"
export NORM_STATS_PATH="${NORM_STATS_PATH:-${CHECKPOINT_DIR}/assets/giakhuyendihoc/ur5_pour_full_tcp240_noforce/norm_stats.json}"
export PORT="${PORT:-8027}"
export NUM_DENOISE_STEPS="${NUM_DENOISE_STEPS:-10}"
export PROMPT="${PROMPT:-Pick the black and white container, place it on top of the black and red container, then pick the blue container with nuts and metal plate inside and pour the nuts and metal plate inside the black and red container until the blue container is empty}"

# Baseline Pi0.5 full fine-tuned h50 pour checkpoint. Keep runtime settings aligned with
# the h50 tube/pour presets for direct real-robot comparison.
export ACTION_MODE="${ACTION_MODE:-joint}"
export CONTROL_FREQUENCY="${CONTROL_FREQUENCY:-30}"
export REPLAN_STEPS="${REPLAN_STEPS:-30}"
export RTC="${RTC:-0}"
export RTC_EXECUTION_HORIZON="${RTC_EXECUTION_HORIZON:-18}"
export RTC_MAX_GUIDANCE_WEIGHT="${RTC_MAX_GUIDANCE_WEIGHT:-20.0}"
export RTC_PREFIX_ATTENTION_SCHEDULE="${RTC_PREFIX_ATTENTION_SCHEDULE:-exp}"
export RTC_QUERY_AT_STEPS="${RTC_QUERY_AT_STEPS:-0}"
export RTC_DELAY_BUFFER_SIZE="${RTC_DELAY_BUFFER_SIZE:-10}"
export NO_DEPTH="${NO_DEPTH:-1}"
export CAMERA_SERIALS="${CAMERA_SERIALS:-405622073020,346122070666,405622073501}"
export PRIMARY_CAMERA_INDEX="${PRIMARY_CAMERA_INDEX:-0}"
export WRIST_CAMERA_INDEX="${WRIST_CAMERA_INDEX:-1}"
export CAMERA_STARTUP_TIMEOUT="${CAMERA_STARTUP_TIMEOUT:-20}"
export MAX_JOINT_STEP_RAD="${MAX_JOINT_STEP_RAD:-0.6}"
export SERVO_LOOKAHEAD_TIME="${SERVO_LOOKAHEAD_TIME:-0.1}"
export SERVO_GAIN="${SERVO_GAIN:-100}"
export START_POSE_NAME="${START_POSE_NAME:-cam-front}"
export START_POSES_ROOT="${START_POSES_ROOT:-/home/khuyen/DTU-Internship/vla_ur5/robot_poses}"
export REPORT_ROOT="${REPORT_ROOT:-/home/khuyen/DTU-Internship/vla_ur5/reports}"
export RECORD_RGB_VIDEO="${RECORD_RGB_VIDEO:-1}"
export RECORD_TASK_NAME="${RECORD_TASK_NAME:-pi05_pour_full}"
export RGB_VIDEO_CAMERA_NAMES="${RGB_VIDEO_CAMERA_NAMES:-front,wrist,top}"
export RGB_VIDEO_CODEC="${RGB_VIDEO_CODEC:-mp4v}"
export RGB_VIDEO_FPS="${RGB_VIDEO_FPS:-30}"
export RGB_VIDEO_TRANSCODE_H264="${RGB_VIDEO_TRANSCODE_H264:-1}"