Safetensors
File size: 6,122 Bytes
01d5155
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
{
    "__config_type__": "robo_orchard_lab.models.holobrain.processor:HoloBrainProcessorCfg",
    "class_type": "robo_orchard_lab.models.holobrain.processor:HoloBrainProcessor",
    "load_image": true,
    "load_depth": true,
    "cam_names": [
        "left_camera",
        "right_camera",
        "head_camera"
    ],
    "valid_action_step": null,
    "transforms": [
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:AddItems",
            "T_base2world": [
                [
                    1,
                    0,
                    0,
                    0
                ],
                [
                    0,
                    1,
                    0,
                    -0.65
                ],
                [
                    0,
                    0,
                    1,
                    0.65
                ],
                [
                    0,
                    0,
                    0,
                    1
                ]
            ],
            "joint_mask": [
                true,
                true,
                true,
                true,
                true,
                true,
                false,
                true,
                true,
                true,
                true,
                true,
                true,
                false
            ]
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:SimpleStateSampling",
            "hist_steps": 1,
            "pred_steps": 64
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:Resize",
            "dst_wh": [
                320,
                256
            ]
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:ImageChannelFlip",
            "output_channel": [
                2,
                1,
                0
            ]
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:ToTensor"
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:MoveEgoToCam"
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:GetProjectionMat",
            "target_coordinate": "ego"
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:AddScaleShift",
            "scale_shift": [
                [
                    2.400281548500061,
                    -0.1310516595840454
                ],
                [
                    1.445511817932129,
                    -1.445511817932129
                ],
                [
                    2.16847026348114,
                    -0.23492777347564697
                ],
                [
                    1.7424615025520325,
                    -0.007538259029388428
                ],
                [
                    2.8101450204849243,
                    0.15472495555877686
                ],
                [
                    2.9653799533843994,
                    0.02583003044128418
                ],
                [
                    0.5,
                    0.5
                ],
                [
                    2.400281548500061,
                    -0.1310516595840454
                ],
                [
                    1.445511817932129,
                    -1.445511817932129
                ],
                [
                    2.16847026348114,
                    -0.23492777347564697
                ],
                [
                    1.7424615025520325,
                    -0.007538259029388428
                ],
                [
                    2.8101450204849243,
                    0.15472495555877686
                ],
                [
                    2.9653799533843994,
                    0.02583003044128418
                ],
                [
                    0.5,
                    0.5
                ]
            ]
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:ConvertDataType",
            "convert_map": {
                "imgs": "float32",
                "depths": "float32",
                "image_wh": "float32",
                "projection_mat": "float32",
                "embodiedment_mat": "float32"
            }
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:DualArmKinematics",
            "urdf": "./urdf/robotwin2_dual_arm_ur5_wsg.urdf",
            "left_arm_link_keys": [
                "left_shoulder_link",
                "left_upper_arm_link",
                "left_forearm_link",
                "left_wrist_1_link",
                "left_wrist_2_link",
                "left_wrist_3_link"
            ],
            "left_finger_keys": [
                "left_finger_left"
            ],
            "right_arm_link_keys": [
                "right_shoulder_link",
                "right_upper_arm_link",
                "right_forearm_link",
                "right_wrist_1_link",
                "right_wrist_2_link",
                "right_wrist_3_link"
            ],
            "right_finger_keys": [
                "right_finger_left"
            ],
            "left_arm_joint_id": [
                0,
                1,
                2,
                3,
                4,
                5
            ],
            "right_arm_joint_id": [
                8,
                9,
                10,
                11,
                12,
                13
            ]
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:ItemSelection",
            "keys": [
                "imgs",
                "depths",
                "image_wh",
                "projection_mat",
                "embodiedment_mat",
                "hist_robot_state",
                "joint_scale_shift",
                "kinematics",
                "text",
                "joint_mask"
            ]
        },
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:UnsqueezeBatch"
        }
    ]
}