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# ============================================================
# habitat-gs environment configuration
# ============================================================
# Copy to .env and fill in values. Auto-loaded by all entry points
# (habitat_agent.py, mcp_server.py, nav_agent.py, TUI) via python-dotenv.
# -----------------------------
# Simulator log suppression
# -----------------------------
# Suppress verbose C++/Magnum rendering logs from habitat-sim
HABITAT_SIM_LOG=quiet
MAGNUM_LOG=QUIET
# -----------------------------
# LLM provider (required)
# -----------------------------
# API key for the LLM provider (OpenAI, Anthropic, or any OpenAI-compatible)
NAV_LLM_API_KEY=your-api-key-here
# API base URL — change for different providers:
# Anthropic: https://api.anthropic.com/v1/
# OpenAI: https://api.openai.com/v1
# Self-hosted: http://localhost:8000/v1
NAV_LLM_BASE_URL=https://api.anthropic.com/v1/
# Model name (must match the provider above)
NAV_LLM_MODEL=claude-sonnet-4-20250514
# Max output tokens per single LLM response (default 4096, rarely needs changing)
# NAV_LLM_MAX_TOKENS=4096
# -----------------------------
# Bridge connection
# -----------------------------
# HTTP server that hosts the habitat-sim simulator
# nav_agent subprocess connects here to execute movement/observation actions
NAV_BRIDGE_HOST=127.0.0.1
NAV_BRIDGE_PORT=18911
# -----------------------------
# Navigation artifacts
# -----------------------------
# Directory for nav_status.json, images, videos, session_stats.jsonl, etc.
# Must be an absolute path (nav_agent runs as subprocess with unknown cwd)
# NAV_ARTIFACTS_DIR=/path/to/habitat-gs/data/nav_artifacts
# Max rounds per nav_loop before forced timeout (1 round = 1 LLM call cycle)
NAV_MAX_ITERATIONS=50
# Per-round timeout in seconds (if LLM doesn't respond within this, round fails)
NAV_AGENT_TIMEOUT=120
# -----------------------------
# Scene defaults
# -----------------------------
# Default scene when hab_init is called without specifying a scene
# HAB_DEFAULT_SCENE=interior_0405_840145
# Dataset config file path (auto-detected from data/gs-test/ if not set)
# HAB_DEFAULT_DATASET_CONFIG=
# -----------------------------
# OpenClaw integration (optional)
# -----------------------------
# OpenClaw gateway address — used as fallback when start_nav_loop payload
# omits gateway_host/gateway_port. Only needed for OpenClaw webhook mode.
# OPENCLAW_GATEWAY_HOST=127.0.0.1
# OPENCLAW_GATEWAY_PORT=18789
# -----------------------------
# Visual robot (third-person)
# -----------------------------
# Enable a visible robot body in simulator (for third-person camera overlays).
# Robot attachment: tries articulated URDF first, falls back to rigid mesh proxy.
HAB_VISUAL_ROBOT_ENABLE=0
# HAB_VISUAL_ROBOT_ROOT=/path/to/habitat-gs/data/robots/hab_stretch
# HAB_VISUAL_ROBOT_URDF=/path/to/habitat-gs/data/robots/hab_stretch/urdf/hab_stretch.urdf
# HAB_VISUAL_ROBOT_MESH=/path/to/habitat-gs/data/robots/hab_stretch/meshes/base_link.obj
# HAB_VISUAL_ROBOT_SCALE=1.0
# HAB_VISUAL_ROBOT_OFFSET_Y=0.0
# HAB_VISUAL_ROBOT_YAW_OFFSET_DEG=0.0
# HAB_VISUAL_ROBOT_AUTO_GROUND_ALIGN=1
# HAB_VISUAL_ROBOT_HIDE_FROM_FIRST_PERSON=1