def _default_observation_map(self):
return {
"qpos":
omv({"mujoco": MujocoShadowHandJointPosObservation}),
"qvel":
omv({"mujoco": MujocoShadowHandJointVelocityObservation}),
"fingertip_pos":
omv({"mujoco": MujocoShadowhandAbsoluteFingertipsObservation}),
"goal_fingertip_pos":
omv({"goal": GoalFingertipPosObservation}),
"is_goal_achieved":
omv({"goal": GoalIsAchievedObservation}),
}
def _default_observation_map(self):
obs_map = {}
if self.constants.vision:
obs_map.update(
{
VISION_OBS: omv({"image": ImageObservation}),
VISION_OBS_MOBILE: omv({"image_mobile": ImageObservation}),
VISION_GOAL: omv({"goal_image": ImageObservation}),
}
)
if self.constants.vision_args.high_res_mujoco:
obs_map.update(
{
VISION_OBS + "_high_res": omv({"image_high_res": ImageObservation}),
VISION_OBS_MOBILE
+ "_high_res": omv({"image_mobile_high_res": ImageObservation}),
VISION_GOAL
+ "_high_res": omv({"goal_image_high_res": ImageObservation}),
}
)
return obs_map
def _default_observation_map(self):
return {
"cube_pos":
omv({"mujoco": MujocoCubePosObservation}),
"cube_quat":
omv({"mujoco": MujocoCubeRotObservation}),
"cube_face_angle":
omv({"mujoco": MujocoFaceAngleObservation}),
"qpos":
omv({"mujoco": MujocoQposObservation}),
"qvel":
omv({"mujoco": MujocoQvelObservation}),
"perp_qpos":
omv({"mujoco": MujocoQposObservation}), # Duplicate of qpos.
"perp_qvel":
omv({"mujoco": MujocoQvelObservation}), # Duplicate of qvel.
"hand_angle":
omv({"mujoco": MujocoShadowhandAngleObservation}),
"fingertip_pos":
omv({"mujoco": MujocoShadowhandRelativeFingertipsObservation}),
"goal_pos":
omv({"goal": GoalCubePosObservation}),
"goal_quat":
omv({"goal": GoalCubeRotObservation}),
"goal_face_angle":
omv({"goal": GoalFaceAngleObservation}),
}
def _default_observation_map(self):
obs_map = {
"cube_pos":
omv({"mujoco": MujocoCubePosObservation}),
"cube_quat":
omv({"mujoco": MujocoCubeRotObservation}),
"qpos":
omv({"mujoco": MujocoQposObservation}),
"qvel":
omv({"mujoco": MujocoQvelObservation}),
"hand_angle":
omv({"mujoco": MujocoShadowhandAngleObservation}),
"fingertip_pos":
omv({"mujoco": MujocoShadowhandRelativeFingertipsObservation}),
"goal_pos":
omv({"goal": GoalCubePosObservation}),
"goal_quat":
omv({"goal": GoalCubeRotObservation}),
"qpos_goal":
omv({"goal": GoalQposObservation}),
"is_goal_achieved":
omv({"goal": GoalIsAchievedObservation}),
}
if self.constants.vision_observations:
# Add image observations for vision based policy rollout.
obs_map.update({
"vision":
omv({"dummy_vision": ImageObservation}, default="dummy_vision")
})
if self.constants.vision_goal:
obs_map.update({
"vision_goal":
omv(
{
"goal": ImageObservation,
"goal_render_image": ImageObservation,
"goal_dummy_vision": ImageObservation,
},
default="goal_dummy_vision",
),
})
return obs_map