wrappers

DefaultWrapper

Bases: EnvironmentWrapper

Default eval wrapper: low-resolution (224x224) RGB observations.

Camera resolution and modalities are declared via :meth:camera_spec and baked into the robot config at env CREATION by the BatchedEvaluator (see omnigibson.eval.evaluator.BatchedEvaluator.load_env), not changed at runtime. This is required because in multi-env mode robot cameras are batched into a single TiledVisionSensor whose resolution is fixed at creation, so a post-hoc per-sensor resize would be silently ignored.

Parameters:

Name	Type	Description	Default
env	Environment	The environment to wrap.	required

Source code in OmniGibson/omnigibson/eval/wrappers/default_wrapper.py

class DefaultWrapper(EnvironmentWrapper):
    """
    Default eval wrapper: low-resolution (224x224) RGB observations.

    Camera resolution and modalities are declared via :meth:`camera_spec` and baked into the robot
    config at env CREATION by the BatchedEvaluator
    (see ``omnigibson.eval.evaluator.BatchedEvaluator.load_env``),
    not changed at runtime. This is required because in multi-env mode robot cameras are batched into
    a single ``TiledVisionSensor`` whose resolution is fixed at creation, so a post-hoc per-sensor
    resize would be silently ignored.

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

    @classmethod
    def camera_spec(cls) -> dict:
        """Returns {"modalities": [...], "resolution": {camera_role: (H, W)}} for this eval profile."""
        return {
            "modalities": ["rgb"],
            "resolution": {role: EVAL_LOW_RES for role in EVAL_CAMERA_ROLES},
        }

    def __init__(self, env: Environment):
        super().__init__(env=env)

camera_spec() classmethod

Returns {"modalities": [...], "resolution": {camera_role: (H, W)}} for this eval profile.

Source code in OmniGibson/omnigibson/eval/wrappers/default_wrapper.py

@classmethod
def camera_spec(cls) -> dict:
    """Returns {"modalities": [...], "resolution": {camera_role: (H, W)}} for this eval profile."""
    return {
        "modalities": ["rgb"],
        "resolution": {role: EVAL_LOW_RES for role in EVAL_CAMERA_ROLES},
    }

RGBDFullResWrapper

Bases: EnvironmentWrapper

Eval wrapper: full-resolution RGB-D observations (head at HEAD_RESOLUTION, wrists at WRIST_RESOLUTION) matching the data-collection cameras, plus a depth modality.

As with :class:~omnigibson.eval.wrappers.default_wrapper.DefaultWrapper, camera resolution and modalities are declared via :meth:camera_spec and baked into the robot config at env CREATION (multi-env tiled rendering fixes resolution at creation, so a runtime resize would not apply).

Parameters:

Name	Type	Description	Default
env	Environment	The environment to wrap.	required

Source code in OmniGibson/omnigibson/eval/wrappers/rgbd_full_res_wrapper.py

class RGBDFullResWrapper(EnvironmentWrapper):
    """
    Eval wrapper: full-resolution RGB-D observations (head at HEAD_RESOLUTION, wrists at
    WRIST_RESOLUTION) matching the data-collection cameras, plus a depth modality.

    As with :class:`~omnigibson.eval.wrappers.default_wrapper.DefaultWrapper`, camera resolution and
    modalities are declared via :meth:`camera_spec` and baked into the robot config at env CREATION
    (multi-env tiled rendering fixes resolution at creation, so a runtime resize would not apply).

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

    @classmethod
    def camera_spec(cls) -> dict:
        """Returns {"modalities": [...], "resolution": {camera_role: (H, W)}} for this eval profile."""
        resolution = {role: (HEAD_RESOLUTION if role == "head" else WRIST_RESOLUTION) for role in EVAL_CAMERA_ROLES}
        return {"modalities": ["rgb", "depth_linear"], "resolution": resolution}

    def __init__(self, env: Environment):
        super().__init__(env=env)

camera_spec() classmethod

Returns {"modalities": [...], "resolution": {camera_role: (H, W)}} for this eval profile.

Source code in OmniGibson/omnigibson/eval/wrappers/rgbd_full_res_wrapper.py

@classmethod
def camera_spec(cls) -> dict:
    """Returns {"modalities": [...], "resolution": {camera_role: (H, W)}} for this eval profile."""
    resolution = {role: (HEAD_RESOLUTION if role == "head" else WRIST_RESOLUTION) for role in EVAL_CAMERA_ROLES}
    return {"modalities": ["rgb", "depth_linear"], "resolution": resolution}