qi; dZddlZddlZddlZddlmZddlmZ de fdZ dej fdZ ejd Gd d ejZejd Gd d ejZdS)zPolicy inputs/outputs for the YAM bimanual robot. State/action: 14D joint positions [left_joint(6), left_grip(1), right_joint(6), right_grip(1)] Cameras: head (base view), left_wrist, right_wrist N) transforms)modelreturnctjdtjtjddtjtjddtjtjddtjddS)z2Creates a random input example for the YAM policy.)r )sizedtypez(pick up the lock and put it into the box)observation/stateobservation/image_headobservation/image_left_wristobservation/image_right_wristprompt)nprandomrandastypefloat32randintuint8;/home/robot-lab/Pi0.5_yam/src/openpi/policies/yam_policy.pymake_yam_examplers Y^^B//66rzBB"$)"3"3CmSUS["3"\"\(* (9(9#MY[Ya(9(b(b)+):):3]Z\Zb):)c)c<   rctj|}tj|jtjr"d|ztj}|jddkrtj |d}|S)Nrr zc h w -> h w c) rasarray issubdtyper floatingrrshapeeinops rearrange)images r _parse_imager&sk Ju  E }U["+../u$$RX.. {1~ (899 LrT)frozencPeZdZUdZejjZejed<de de fdZ dS) YAMInputsatInputs for the YAM bimanual policy. Expected inputs: - observation/image_head: base camera image - observation/image_left_wrist: left wrist camera image - observation/image_right_wrist: right wrist camera image - observation/state: [14] joint positions - actions: [action_horizon, 14] (only during training) - prompt: language instruction model_typedatarc$t|d}t|d}t|d}|d|||dtjtjtjdd}d|vr |d|d<d|vr |d|d<|S) Nrrrr ) base_0_rgbleft_wrist_0_rgbright_wrist_0_rgb)stater% image_maskactionsr)r&rTrue_)selfr+ base_imageleft_wrist_imageright_wrist_imageinputss r__call__zYAMInputs.__call__3s!$'?"@AA '-K(LMM(.M)NOO-.($4%6 !h$&H%'X       $YF9  t  #H~F8  rN) __name__ __module__ __qualname____doc___model ModelTypePI0r*__annotations__dictr9rrrr)r)$s]  $*#3#7J 777Tdrr)c"eZdZdZdedefdZdS) YAMOutputszuOutputs for the YAM bimanual policy. Returns the first 14 action dimensions (matching the 14D joint space). r+rcRdtj|dddddfiS)Nr2r)rr)r4r+s rr9zYAMOutputs.__call__Vs,2:d9oaaa"f&=>>??rN)r:r;r<r=rBr9rrrrDrDOsH @T@d@@@@@@rrD)r= dataclassesr#numpyropenpir openpi.modelsrr>rBrndarrayr& dataclassDataTransformFnr)rDrrrrMs7  ))))))$2:d###''''' *''$#'Td###@@@@@+@@$#@@@r