def __init__(self):
super().__init__()
self.SENSORS = [
RGBSensorThor(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_resnet_normalization=True,
uuid="rgb",
),
DepthSensorIThor(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_normalization=True,
uuid="depth",
),
GPSCompassSensorIThor(),
]
self.PREPROCESSORS = []
self.OBSERVATIONS = [
"rgb",
"depth",
"target_coordinates_ind",
]
def __init__(self):
super().__init__()
self.SENSORS = [
RGBSensorThor(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_resnet_normalization=True,
uuid="rgb",
),
DepthSensorIThor(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_normalization=True,
uuid="depth",
),
GoalObjectTypeThorSensor(self.OBSTACLES_TYPES),
GPSCompassSensorIThor(),
LocalKeyPoints3DSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="3Dkeypoints_local"),
GlobalKeyPoints3DSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="3Dkeypoints_global"),
GlobalObjPoseSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="object_pose_global"),
GlobalAgentPoseSensorThor(uuid="agent_pose_global"),
GlobalObjUpdateMaskSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="object_update_mask"),
GlobalObjActionMaskSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="object_action_mask"),
ExpertActionSensor(nactions=len(
ObjectPlacementTask.class_action_names()),
uuid="expert_action",
expert_args={"end_action_only": True}),
]
self.PREPROCESSORS = []
self.OBSERVATIONS = [
"rgb",
"depth",
"goal_object_type_ind",
"target_coordinates_ind",
"3Dkeypoints_local",
"3Dkeypoints_global",
"object_pose_global",
"agent_pose_global",
"object_update_mask",
"object_action_mask",
"expert_action",
]
def __init__(self):
super().__init__()
self.SENSORS = [
RGBSensorThor(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_resnet_normalization=True,
uuid="rgb",
),
DepthSensorIThor(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_normalization=True,
uuid="depth",
),
GPSCompassSensorIThor(),
LocalKeyPoints3DSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="3Dkeypoints_local"),
GlobalKeyPoints3DSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="3Dkeypoints_global"),
GlobalObjPoseSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="object_pose_global"),
GlobalAgentPoseSensorThor(uuid="agent_pose_global"),
GlobalObjUpdateMaskSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="object_update_mask"),
GlobalObjActionMaskSensorThor(objectTypes=self.OBSTACLES_TYPES,
uuid="object_action_mask"),
]
self.PREPROCESSORS = []
self.OBSERVATIONS = [
"rgb",
"depth",
"target_coordinates_ind",
"3Dkeypoints_local",
"3Dkeypoints_global",
"object_pose_global",
"agent_pose_global",
"object_update_mask",
"object_action_mask",
]
def __init__(self):
super().__init__()
self.SENSORS = [
RGBSensorThor(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_resnet_normalization=True,
uuid="rgb",
),
DepthSensorIThor(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_normalization=True,
uuid="depth",
),
GoalObjectTypeThorSensor(self.OBSTACLES_TYPES),
GPSCompassSensorIThor(),
ClassSegmentationSensorThor(objectTypes=self.OBSTACLES_TYPES,
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
uuid="seg"),
ExpertActionSensor(nactions=len(
ObjectPlacementTask.class_action_names()),
uuid="expert_action",
expert_args={"end_action_only": True}),
]
self.PREPROCESSORS = []
self.OBSERVATIONS = [
"rgb",
"depth",
"goal_object_type_ind",
"target_coordinates_ind",
"seg",
"expert_action",
]