{ "__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": [ "front_camera", "left_camera", "right_camera", "head_camera" ], "valid_action_step": null, "transforms": [ { "type": "robo_orchard_lab.dataset.robotwin.transforms:AddItems", "T_base2world": [ [ 0, -1, 0, 0 ], [ 1, 0, 0, -0.65 ], [ 0, 0, 1, 0 ], [ 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": [ [ 1.12735104, -0.11648428 ], [ 1.45046443, 1.35436516 ], [ 1.5324732, 1.45750941 ], [ 1.80842297, -0.01855904 ], [ 1.46318083, 0.16631192 ], [ 2.79637467, 0.24332368 ], [ 0.5, 0.5 ], [ 1.12735104, -0.11648428 ], [ 1.45046443, 1.35436516 ], [ 1.5324732, 1.45750941 ], [ 1.80842297, -0.01855904 ], [ 1.46318083, 0.16631192 ], [ 2.79637467, 0.24332368 ], [ 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/arx5_description_isaac.urdf" }, { "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" } ] }