Skip to content

rgb_low_res_wrapper

RGBLowResWrapper

Bases: EnvironmentWrapper

Parameters:

Name Type Description Default
env Environment

The environment to wrap.

 required
Source code in OmniGibson/omnigibson/eval/wrappers/rgb_low_res_wrapper.py 
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
class RGBLowResWrapper(EnvironmentWrapper):
    """
    Args:
        env (og.Environment): The environment to wrap.
    """

    def __init__(self, env: Environment):
        super().__init__(env=env)
        # Here, we modify the robot observation to use 224 * 224 resolution
        # For a complete list of available modalities, see VisionSensor.ALL_MODALITIES
        robot = env.robots[0]
        for camera_id, camera_name in ROBOT_CAMERA_NAMES["R1Pro"].items():
            sensor_name = camera_name.split("::")[1]
            sensor = robot.sensors[sensor_name]
            if camera_id == "head":
                sensor.horizontal_aperture = 40.0  # this is what we used in data collection
            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!")