| from omnigibson.envs import Environment, EnvironmentWrapper |
| from omnigibson.eval.utils.eval_utils import EVAL_CAMERA_ROLES |
|
|
| EVAL_LOW_RES = (224, 224) |
|
|
|
|
| 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) |
|
|
