| from __future__ import annotations | |
| from rlbench.observation_config import CameraConfig, ObservationConfig | |
| def build_obs_config( | |
| cameras: list[str], | |
| resolution: int, | |
| *, | |
| rgb: bool = True, | |
| depth: bool = False, | |
| point_cloud: bool = False, | |
| mask: bool = False, | |
| ) -> ObservationConfig: | |
| camera_configs = { | |
| camera: CameraConfig( | |
| rgb=rgb, | |
| depth=depth, | |
| point_cloud=point_cloud, | |
| mask=mask, | |
| image_size=(resolution, resolution), | |
| ) | |
| for camera in cameras | |
| } | |
| return ObservationConfig( | |
| camera_configs=camera_configs, | |
| joint_velocities=True, | |
| joint_positions=True, | |
| joint_forces=True, | |
| gripper_open=True, | |
| gripper_pose=True, | |
| gripper_matrix=False, | |
| gripper_joint_positions=False, | |
| gripper_touch_forces=False, | |
| wrist_camera_matrix=False, | |
| record_gripper_closing=False, | |
| task_low_dim_state=True, | |
| record_ignore_collisions=True, | |
| robot_name="dual_panda", | |
| ) | |