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rgbd_full_res_wrapper

RGBDFullResWrapper

Bases: EnvironmentWrapper

Parameters:

Name Type Description Default
env Environment

The environment to wrap.

 required
Source code in OmniGibson/omnigibson/eval/wrappers/rgbd_full_res_wrapper.py 
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class RGBDFullResWrapper(EnvironmentWrapper):
    """
    Args:
        env (og.Environment): The environment to wrap.
    """

    def __init__(self, env: Environment):
        super().__init__(env=env)
        # Note that from eval.py we only set rgb modality, here we include depth.
        # Here, we change the camera resolution to match the one we used in data collection
        robot = env.robots[0]
        robot_eval_config = getattr(env, "_eval_robot_config", {})
        camera_roles_by_sensor_name = {
            camera_name.split("::")[1]: camera_id
            for camera_id, camera_name in get_robot_camera_names(robot.name, robot_eval_config).items()
        }
        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", "depth_linear"})
            camera_id = camera_roles_by_sensor_name.get(sensor_name)
            if camera_id == "head":
                sensor.image_height = HEAD_RESOLUTION[0]
                sensor.image_width = HEAD_RESOLUTION[1]
            else:
                sensor.image_height = WRIST_RESOLUTION[0]
                sensor.image_width = WRIST_RESOLUTION[1]
        # reload observation space
        env.load_observation_space()
        logger.info("Reloaded observation space!")