| { |
| "__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": [ |
| "front_camera", |
| "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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| -1, |
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| [ |
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| "joint_mask": [ |
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| true, |
| true, |
| true, |
| true, |
| false, |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
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| }, |
| { |
| "type": "robo_orchard_lab.dataset.robotwin.transforms:IdentityTransform" |
| }, |
| { |
| "type": "robo_orchard_lab.dataset.robotwin.transforms:IdentityTransform" |
| }, |
| { |
| "type": "robo_orchard_lab.dataset.robotwin.transforms:SimpleStateSampling", |
| "hist_steps": 1, |
| "pred_steps": 64 |
| }, |
| { |
| "type": "robo_orchard_lab.dataset.robotwin.transforms:Resize", |
| "dst_wh": [ |
| 352, |
| 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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| }, |
| { |
| "type": "robo_orchard_lab.dataset.robotwin.transforms:ConvertDataType", |
| "convert_map": { |
| "imgs": "float32", |
| "depths": "float32", |
| "image_wh": "float32", |
| "projection_mat": "float32", |
| "embodiedment_mat": "float32" |
| } |
| }, |
| { |
| "type": "projects.holobrain_0_5.configs.transforms:MultiArmKinematics", |
| "urdf": "./urdf/aloha.urdf", |
| "arm_link_keys": [ |
| [ |
| "fl_link1", |
| "fl_link2", |
| "fl_link3", |
| "fl_link4", |
| "fl_link5", |
| "fl_link6_ee" |
| ], |
| [ |
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| "fr_link3", |
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| "finger_keys": [ |
| [ |
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| ], |
| [ |
| "fr_link6_gripper_end" |
| ] |
| ], |
| "arm_connection_joint_indices": [ |
| 6, |
| 6 |
| ] |
| }, |
| { |
| "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" |
| } |
| ] |
| } |
