{
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    "class_type": "robo_orchard_lab.models.holobrain_0_5.processor:HoloBrainProcessor",
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    "load_depth": true,
    "cam_names": [
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    "transforms": [
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        {
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        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:MoveEgoToCam"
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        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:GetProjectionMat",
            "target_coordinate": "ego"
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            "convert_map": {
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                "image_wh": "float32",
                "projection_mat": "float32",
                "embodiedment_mat": "float32"
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        },
        {
            "type": "projects.holobrain_0_5.configs.transforms:MultiArmKinematics",
            "urdf": "./urdf/aloha.urdf",
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            "arm_joint_id": [
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        {
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                "kinematics",
                "text",
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        {
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        }
    ]
}