robotwin2_0_processor.json

{
    "__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": [
        "front_camera",
        "left_camera",
        "right_camera",
        "head_camera"
    ],
    "valid_action_step": null,
    "transforms": [
        {
            "type": "robo_orchard_lab.dataset.robotwin.transforms:AddItems",
            "T_base2world": [
                [
                    0,
                    -1,
                    0,
                    0
                ],
                [
                    1,
                    0,
                    0,
                    -0.65
                ],
                [
                    0,
                    0,
                    1,
                    0
                ],
                [
                    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": [
                [
                    1.12735104,
                    -0.11648428
                ],
                [
                    1.45046443,
                    1.35436516
                ],
                [
                    1.5324732,
                    1.45750941
                ],
                [
                    1.80842297,
                    -0.01855904
                ],
                [
                    1.46318083,
                    0.16631192
                ],
                [
                    2.79637467,
                    0.24332368
                ],
                [
                    0.5,
                    0.5
                ],
                [
                    1.12735104,
                    -0.11648428
                ],
                [
                    1.45046443,
                    1.35436516
                ],
                [
                    1.5324732,
                    1.45750941
                ],
                [
                    1.80842297,
                    -0.01855904
                ],
                [
                    1.46318083,
                    0.16631192
                ],
                [
                    2.79637467,
                    0.24332368
                ],
                [
                    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/arx5_description_isaac.urdf"
        },
        {
            "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"
        }
    ]
}