
    qir                         d dl Z d dlZd dlZd dlmZ d dlmZ de	fdZ
dej        fdZ e j        d           G d	 d
ej                              Z e j        d           G d dej                              ZdS )    N)
transforms)modelreturnc                  .   t           j                            ddt           j                  t           j                            ddt           j                  t           j                            d          t           j                            d          ddS )z4Creates a random input example for the Droid policy.   )   r      )sizedtype      zdo something)!observation/exterior_image_1_leftobservation/wrist_image_leftobservation/joint_positionobservation/gripper_positionprompt)nprandomrandintuint8rand     =/home/robot-lab/Pi0.5_yam/src/openpi/policies/droid_policy.pymake_droid_exampler   
   st     .0Y->->s^`^f->-g-g(*	(9(9#MY[Ya(9(b(b&(innQ&7&7(*	q(9(9   r   c                    t          j        |           } t          j        | j        t           j                  r"d| z                      t           j                  } | j        d         dk    rt          j	        | d          } | S )N   r   r	   zc h w -> h w c)
r   asarray
issubdtyper   floatingastyper   shapeeinops	rearrange)images    r   _parse_imager&      sk    JuE	}U["+.. /u$$RX..{1~ (899Lr   T)frozenc                   4    e Zd ZU ej        ed<   dedefdZdS )DroidInputs
model_typedatar   c           	         t          j        |d                   }|j        dk    r|t           j                 }t          j        |d         |g          }t          |d                   }t          |d                   }| j        xxt          j        j	        k    rnxt          j        j
        k    rn n?  d}||t          j        |          f}t           j        t           j        t           j        f}nit          j        j        k    r=d}|t          j        |          |f}t           j        t           j        t           j        f}n	 t          d| j                   |t!          t#          ||d	
                    t!          t#          ||d	
                    d}	d|v rt          j        |d                   |	d<   d|v rDt%          |d         t&                    r|d                             d          |d<   |d         |	d<   |	S )Nr   r   r   r   r   )
base_0_rgbleft_wrist_0_rgbright_wrist_0_rgb)r-   
base_1_rgbwrist_0_rgbzUnsupported model type: T)strict)stater%   
image_maskactionsr   zutf-8)r   r   ndimnewaxisconcatenater&   r*   _model	ModelTypePI0PI05
zeros_likeTrue_False_PI0_FAST
ValueErrordictzip
isinstancebytesdecode)
selfr+   gripper_posr3   
base_imagewrist_imagenamesimagesimage_masksinputss
             r   __call__zDroidInputs.__call__#   s   j&D!EFFq  %bj1K%A BKPQQ "$'J"KLL
"4(F#GHHo=%!%%%%(=(8(=(=(=(=(=(=(=(=O$k2=3L3LM!x29=!***C$bmJ&?&?M!x28< !MDO!M!MNNN #eVD999::s5+dCCCDD
 
  "
4	? ; ;F9t$x.%00 @!%h!6!6w!?!?X#H~F8r   N)__name__
__module____qualname__r9   r:   __annotations__rB   rO   r   r   r   r)   r)      sI              'T 'd ' ' ' ' ' 'r   r)   c                       e Zd ZdedefdZdS )DroidOutputsr+   r   c                 R    dt          j        |d         d d d df                   iS )Nr5      )r   r   )rG   r+   s     r   rO   zDroidOutputs.__call__O   s,    2:d9oaaa!e&<==>>r   N)rP   rQ   rR   rB   rO   r   r   r   rU   rU   M   s6        ?T ?d ? ? ? ? ? ?r   rU   )dataclassesr#   numpyr   openpir   openpi.modelsr   r9   rB   r   ndarrayr&   	dataclassDataTransformFnr)   rU   r   r   r   <module>r_      s!                  ) ) ) ) ) )D    2:     d###+ + + + +*, + + $#+\ d###? ? ? ? ?:- ? ? $#? ? ?r   