libero_processor.json

{
    "__config_type__": "robo_orchard_lab.models.holobrain_0_5.processor:HoloBrainProcessorCfg",
    "class_type": "robo_orchard_lab.models.holobrain_0_5.processor:HoloBrainProcessor",
    "load_image": true,
    "load_depth": true,
    "cam_names": [
        "eye_in_hand",
        "agentview"
    ],
    "valid_action_step": null,
    "transforms": [
        {
            "type": "projects.holobrain_0_5.configs.transforms:AddItems",
            "T_base2ego": [
                [
                    -7.2681845e-08,
                    1.0,
                    -1.52115266e-07,
                    2.92828043e-07
                ],
                [
                    0.62826645,
                    -7.2681845e-08,
                    -0.777998244,
                    0.839064929
                ],
                [
                    -0.777998244,
                    -1.52115266e-07,
                    -0.62826645,
                    1.52412879
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "T_base2world": [
                [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                ],
                [
                    0.0,
                    1.0,
                    0.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    1.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "ee_frame_alignment": [
                [
                    -1.0,
                    0.0,
                    0.0,
                    0.0
                ],
                [
                    0.0,
                    -1.0,
                    0.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    1.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "joint_mask": [
                false
            ],
            "joint_relative_pos": [
                0
            ],
            "joint_scale_shift": [
                [
                    0.5,
                    0.5
                ]
            ]
        },
        {
            "type": "projects.holobrain_0_5.configs.transforms:AddItems",
            "noise_type": "local_joint_local_pose",
            "to_numpy": false
        },
        {
            "type": "robo_orchard_lab.dataset.libero.transforms:SimpleStateSampling",
            "hist_steps": 1,
            "pred_steps": 64
        },
        {
            "type": "projects.holobrain_0_5.configs.transforms:Resize",
            "dst_wh": [
                352,
                256
            ]
        },
        {
            "type": "projects.holobrain_0_5.configs.transforms:ImageChannelFlip",
            "output_channel": [
                2,
                1,
                0
            ]
        },
        {
            "type": "robo_orchard_lab.dataset.horizon_manipulation.transforms:ToTensor"
        },
        {
            "type": "robo_orchard_lab.dataset.horizon_manipulation.transforms:GetProjectionMat",
            "target_coordinate": "ego"
        },
        {
            "type": "projects.holobrain_0_5.configs.transforms:ConvertDataType",
            "convert_map": {
                "imgs": "float32",
                "depths": "float32",
                "image_wh": "float32",
                "projection_mat": "float32",
                "embodiedment_mat": "float32",
                "ee_frame_alignment": "float32",
                "hist_robot_state": "float32",
                "pred_robot_state": "float32",
                "joint_scale_shift": "float32"
            }
        },
        {
            "type": "robo_orchard_lab.dataset.libero.transforms:TransformRobotState"
        },
        {
            "type": "robo_orchard_lab.dataset.horizon_manipulation.transforms:ItemSelection",
            "keys": [
                "imgs",
                "depths",
                "image_wh",
                "projection_mat",
                "embodiedment_mat",
                "ee_frame_alignment",
                "hist_robot_state",
                "pred_robot_state",
                "joint_scale_shift",
                "joint_relative_pos",
                "kinematics",
                "text",
                "uuid",
                "subtask",
                "joint_mask",
                "noise_type"
            ]
        },
        {
            "type": "robo_orchard_lab.dataset.horizon_manipulation.transforms:UnsqueezeBatch"
        }
    ]
}