qiddlZddlZddlZddlmZddlmZde fdZ dej fdZ ej dGd d ejZej dGd d ejZdS) N) transforms)modelreturnctjdtjddtjtjddtjddS)z5Creates a random input example for the Libero policy.)r )sizedtypez do something)observation/stateobservation/imageobservation/wrist_imageprompt)nprandomrandrandintuint8>/home/robot-lab/Pi0.5_yam/src/openpi/policies/libero_policy.pymake_libero_exampler sa Y^^A..Y..sbh.WW#%9#4#4S}TVT\#4#]#]   rctj|}tj|jtjr"d|ztj}|jddkrtj |d}|S)Nrr zc h w -> h w c) rasarray issubdtyper floatingastypershapeeinops rearrange)images r _parse_imager$sk Ju  E }U["+../u$$RX.. {1~ (899 LrT)frozenc8eZdZUdZejed<dedefdZdS) LiberoInputsa# This class is used to convert inputs to the model to the expected format. It is used for both training and inference. For your own dataset, you can copy this class and modify the keys based on the comments below to pipe the correct elements of your dataset into the model. model_typedatarcjt|d}t|d}|d||tj|dtjtj|jt jjkr tjn tjdd}d|vr |d|d<d|vr |d|d<|S)Nrrr ) base_0_rgbleft_wrist_0_rgbright_wrist_0_rgb)stater# image_maskactionsr) r$r zeros_likeTrue_r(_model ModelTypePI0_FASTFalse_)selfr) base_image wrist_imageinputss r__call__zLiberoInputs.__call__*s"$':";<< "4(A#BCC -.($/%']:%>%> !h$&H15FDTD]1]1]RXXcecl   $    $YF9  t  #H~F8  rN) __name__ __module__ __qualname____doc__r3r4__annotations__dictr;rrrr'r'sS    )T)d))))))rr'c"eZdZdZdedefdZdS) LiberoOutputsz This class is used to convert outputs from the model back the the dataset specific format. It is used for inference only. For your own dataset, you can copy this class and modify the action dimension based on the comments below. r)rcRdtj|dddddfiS)Nr0)rr)r7r)s rr;zLiberoOutputs.__call___s. 2:d9oaaa!e&<==>>rN)r<r=r>r?rAr;rrrrCrCVs@?T?d??????rrC) dataclassesr!numpyropenpir openpi.modelsrr3rArndarrayr$ dataclassDataTransformFnr'rCrrrrMs! ))))))T2:d###55555:-55$#5pd### ? ? ? ? ?J. ? ?$# ? ? ?r