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default_wrapper

DefaultWrapper

Bases: EnvironmentWrapper

Default eval wrapper: low-resolution RGB observations.

Parameters:

Name Type Description Default
env Environment

The environment to wrap.

 required
Source code in OmniGibson/omnigibson/eval/wrappers/default_wrapper.py 
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class DefaultWrapper(EnvironmentWrapper):
    """
    Default eval wrapper: low-resolution RGB observations.

    Args:
        env (og.Environment): The environment to wrap.
    """

    def __init__(self, env: Environment):
        super().__init__(env=env)
        robot = env.robots[0]
        for sensor_name, sensor in robot.sensors.items():
            if not hasattr(sensor, "image_height") or not hasattr(sensor, "image_width"):
                continue
            set_sensor_modalities(sensor, {"rgb"})
            sensor.image_height = 224
            sensor.image_width = 224
            sensor_space = sensor.load_observation_space()
            if env.observation_space is not None:
                env.observation_space.spaces[robot.name].spaces[sensor_name] = sensor_space
        logger.info("Reloaded camera observation spaces!")