robotwin2_0_ur5_wsg_processor.json

{
    "__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": [
                [
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                ],
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                [
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            ],
            "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": [
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                    2.400281548500061,
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                ],
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                ],
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                [
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            ]
        },
        {
            "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"
        }
    ]
}