# GR00T N1.7 deploy: single diffusion stage.
#
# Topology is declared in vllm_omni/model_executor/models/gr00t/pipeline.py.
# This default uses one GPU with TP=1 and CFG parallel disabled.

pipeline: Gr00tN1d7
# Required: async_chunk defaults to True, which the deploy validator rejects for a
# single-stage pipeline (no next-stage processor). Must be false here.
async_chunk: false

stages:
  - stage_id: 0
    max_num_seqs: 1
    enforce_eager: true
    model_class_name: Gr00tN1d7Pipeline
    model_config:
      embodiment_tag: OXE_DROID_RELATIVE_EEF_RELATIVE_JOINT
      # OpenPI client handshake — model/embodiment-specific values for GR00T-N1.7.
      # Sent verbatim to the client (the pipeline never reads these); they describe the
      # action space / inputs the client must produce for this checkpoint + embodiment.
      policy_server_config:
        image_resolution: [180, 320]
        needs_session_id: true
        embodiment_tag: OXE_DROID_RELATIVE_EEF_RELATIVE_JOINT
        action_horizon: 40
        action_keys:
          - eef_9d
          - gripper_position
          - joint_position
        supported_embodiments:
          - OXE_DROID_RELATIVE_EEF_RELATIVE_JOINT
          - XDOF
          - XDOF_SUBTASK
          - REAL_G1
          - REAL_R1_PRO_SHARPA
          - REAL_R1_PRO_SHARPA_HUMAN
          - REAL_R1_PRO_SHARPA_MAXINSIGHTS
          - REAL_R1_PRO_SHARPA_MECKA
          - LIBERO_PANDA
          - SIMPLER_ENV_GOOGLE
          - SIMPLER_ENV_WIDOWX