diff --git a/isaaclab_arena/embodiments/droid/droid.py b/isaaclab_arena/embodiments/droid/droid.py index 8f068c44e..0fa566e7d 100644 --- a/isaaclab_arena/embodiments/droid/droid.py +++ b/isaaclab_arena/embodiments/droid/droid.py @@ -394,7 +394,7 @@ class DroidCameraCfg: """Configuration for cameras. DROID cameras are mounted with pre-set poses.""" external_camera: CameraCfg | TiledCameraCfg = MISSING - external_camera_2: CameraCfg | TiledCameraCfg = MISSING + # external_camera_2: CameraCfg | TiledCameraCfg = MISSING wrist_camera: CameraCfg | TiledCameraCfg = MISSING def __post_init__(self): @@ -407,8 +407,8 @@ def __post_init__(self): self.external_camera = CameraClass( prim_path="{ENV_REGEX_NS}/Robot/external_camera", - height=720, - width=1280, + height=18, + width=32, data_types=["rgb"], spawn=sim_utils.PinholeCameraCfg( focal_length=2.1, @@ -418,25 +418,25 @@ def __post_init__(self): ), offset=OffsetClass(pos=(0.05, 0.57, 0.66), rot=(-0.393, -0.195, 0.399, 0.805), convention="opengl"), ) - self.external_camera_2 = CameraClass( - prim_path="{ENV_REGEX_NS}/Robot/external_camera_2", - height=720, - width=1280, - data_types=["rgb"], - spawn=sim_utils.PinholeCameraCfg( - focal_length=2.1, - focus_distance=28.0, - horizontal_aperture=5.376, - vertical_aperture=3.024, - ), - offset=CameraCfg.OffsetCfg( - pos=(0.05, -0.57, 0.66), rot=(0.805, 0.399, -0.195, -0.393), convention="opengl" - ), - ) + # self.external_camera_2 = CameraClass( + # prim_path="{ENV_REGEX_NS}/Robot/external_camera_2", + # height=720, + # width=1280, + # data_types=["rgb"], + # spawn=sim_utils.PinholeCameraCfg( + # focal_length=2.1, + # focus_distance=28.0, + # horizontal_aperture=5.376, + # vertical_aperture=3.024, + # ), + # offset=CameraCfg.OffsetCfg( + # pos=(0.05, -0.57, 0.66), rot=(0.805, 0.399, -0.195, -0.393), convention="opengl" + # ), + # ) self.wrist_camera = CameraClass( prim_path="{ENV_REGEX_NS}/Robot/Gripper/Robotiq_2F_85/base_link/wrist_camera", - height=720, - width=1280, + height=18, + width=32, data_types=["rgb"], spawn=sim_utils.PinholeCameraCfg( focal_length=2.8, diff --git a/isaaclab_arena/embodiments/g1/g1.py b/isaaclab_arena/embodiments/g1/g1.py index 166b5ac4d..8e103621b 100644 --- a/isaaclab_arena/embodiments/g1/g1.py +++ b/isaaclab_arena/embodiments/g1/g1.py @@ -355,8 +355,8 @@ def __post_init__(self): common_kwargs = dict( prim_path="{ENV_REGEX_NS}/Robot/head_link/RobotHeadCam", update_period=0.0, - height=480, - width=640, + height=48, + width=64, data_types=["rgb"], spawn=sim_utils.PinholeCameraCfg( focal_length=0.169, # 1.69 mm; FOV preserved via apertures diff --git a/isaaclab_arena/embodiments/gr1t2/gr1t2.py b/isaaclab_arena/embodiments/gr1t2/gr1t2.py index e8cecee5a..70b46269d 100644 --- a/isaaclab_arena/embodiments/gr1t2/gr1t2.py +++ b/isaaclab_arena/embodiments/gr1t2/gr1t2.py @@ -381,8 +381,8 @@ def __post_init__(self): common_kwargs = dict( prim_path="{ENV_REGEX_NS}/Robot/head_yaw_link/RobotPOVCam", update_period=0.0, - height=512, - width=512, + height=64, + width=64, data_types=["rgb"], spawn=sim_utils.PinholeCameraCfg(focal_length=18.15, clipping_range=(0.01, 1.0e5)), ) diff --git a/isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml b/isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml index 3204b8c0d..389b33610 100644 --- a/isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml +++ b/isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml @@ -22,5 +22,5 @@ task_mode_name: droid_manipulation pov_cam_name_sim: ["external_camera_rgb", "wrist_camera_rgb"] -original_image_size: [720, 1280, 3] -target_image_size: [180, 320, 3] +original_image_size: [18, 32, 3] +target_image_size: [18, 32, 3] diff --git a/isaaclab_arena_gr00t/policy/config/g1_locomanip_gr00t_closedloop_config.yaml b/isaaclab_arena_gr00t/policy/config/g1_locomanip_gr00t_closedloop_config.yaml index 18d96ab83..2f64638d8 100644 --- a/isaaclab_arena_gr00t/policy/config/g1_locomanip_gr00t_closedloop_config.yaml +++ b/isaaclab_arena_gr00t/policy/config/g1_locomanip_gr00t_closedloop_config.yaml @@ -22,3 +22,6 @@ action_chunk_length: 50 pov_cam_name_sim: "robot_head_cam_rgb" task_mode_name: g1_locomanipulation + +original_image_size: [48, 64, 3] +target_image_size: [48, 64, 3] \ No newline at end of file diff --git a/isaaclab_arena_gr00t/policy/config/gr1_manip_gr00t_closedloop_config.yaml b/isaaclab_arena_gr00t/policy/config/gr1_manip_gr00t_closedloop_config.yaml index 513b2b07d..80556ae8f 100644 --- a/isaaclab_arena_gr00t/policy/config/gr1_manip_gr00t_closedloop_config.yaml +++ b/isaaclab_arena_gr00t/policy/config/gr1_manip_gr00t_closedloop_config.yaml @@ -23,5 +23,5 @@ task_mode_name: gr1_tabletop_manipulation pov_cam_name_sim: "robot_pov_cam_rgb" -original_image_size: [512, 512, 3] -target_image_size: [512, 512, 3] +original_image_size: [64, 64, 3] +target_image_size: [64, 64, 3] diff --git a/isaaclab_arena_gr00t/policy/config/gr1_manip_ranch_bottle_gr00t_closedloop_config.yaml b/isaaclab_arena_gr00t/policy/config/gr1_manip_ranch_bottle_gr00t_closedloop_config.yaml index 59af9da34..c1b01ecb5 100644 --- a/isaaclab_arena_gr00t/policy/config/gr1_manip_ranch_bottle_gr00t_closedloop_config.yaml +++ b/isaaclab_arena_gr00t/policy/config/gr1_manip_ranch_bottle_gr00t_closedloop_config.yaml @@ -23,5 +23,5 @@ task_mode_name: gr1_tabletop_manipulation pov_cam_name_sim: "robot_pov_cam_rgb" -original_image_size: [512, 512, 3] -target_image_size: [512, 512, 3] +original_image_size: [64, 64, 3] +target_image_size: [64, 64, 3]