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71a0567 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | from omnigibson.envs import Environment, EnvironmentWrapper
from omnigibson.eval.utils.eval_utils import EVAL_CAMERA_ROLES
EVAL_LOW_RES = (224, 224) # (H, W)
class DefaultWrapper(EnvironmentWrapper):
"""
Default eval wrapper: low-resolution (224x224) RGB observations.
Camera resolution and modalities are declared via :meth:`camera_spec` and baked into the robot
config at env CREATION by the BatchedEvaluator
(see ``omnigibson.eval.evaluator.BatchedEvaluator.load_env``),
not changed at runtime. This is required because in multi-env mode robot cameras are batched into
a single ``TiledVisionSensor`` whose resolution is fixed at creation, so a post-hoc per-sensor
resize would be silently ignored.
Args:
env (og.Environment): The environment to wrap.
"""
@classmethod
def camera_spec(cls) -> dict:
"""Returns {"modalities": [...], "resolution": {camera_role: (H, W)}} for this eval profile."""
return {
"modalities": ["rgb"],
"resolution": {role: EVAL_LOW_RES for role in EVAL_CAMERA_ROLES},
}
def __init__(self, env: Environment):
super().__init__(env=env)
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