{ "__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" } ] }