def __init__(
self,
left_shoulder_camera: CameraConfig = None,
right_shoulder_camera: CameraConfig = None,
wrist_camera: CameraConfig = None,
joint_velocities=True,
joint_velocities_noise: NoiseModel = Identity(),
joint_positions=True,
joint_positions_noise: NoiseModel = Identity(),
joint_forces=True,
joint_forces_noise: NoiseModel = Identity(),
gripper_pose=True,
gripper_touch_forces=False,
record_gripper_closing=False,
task_low_dim_state=False,
):
self.left_shoulder_camera = (CameraConfig()
if left_shoulder_camera is None else
left_shoulder_camera)
self.right_shoulder_camera = (CameraConfig()
if right_shoulder_camera is None else
right_shoulder_camera)
self.wrist_camera = (CameraConfig()
if wrist_camera is None else wrist_camera)
self.joint_velocities = joint_velocities
self.joint_velocities_noise = joint_velocities_noise
self.joint_positions = joint_positions
self.joint_positions_noise = joint_positions_noise
self.joint_forces = joint_forces
self.joint_forces_noise = joint_forces_noise
self.gripper_pose = gripper_pose
self.gripper_touch_forces = gripper_touch_forces
self.record_gripper_closing = record_gripper_closing
self.task_low_dim_state = task_low_dim_state
def __init__(self,
rgb=True,
rgb_noise: NoiseModel = Identity(),
depth=True,
depth_noise: NoiseModel = Identity(),
mask=True,
image_size=(128, 128),
render_mode=RenderMode.OPENGL3):
self.rgb = rgb
self.rgb_noise = rgb_noise
self.depth = depth
self.depth_noise = depth_noise
self.mask = mask
self.image_size = image_size
self.render_mode = render_mode
def __init__(self,
rgb=True,
rgb_noise: NoiseModel = Identity(),
depth=True,
depth_noise: NoiseModel = Identity(),
mask=True,
image_size=(128, 128),
render_mode=RenderMode.OPENGL3,
masks_as_one_channel=True,
depth_in_meters=False):
self.rgb = rgb
self.rgb_noise = rgb_noise
self.depth = depth
self.depth_noise = depth_noise
self.mask = mask
self.image_size = image_size
self.render_mode = render_mode
self.masks_as_one_channel = masks_as_one_channel
self.depth_in_meters = depth_in_meters