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fix fmb video channel from bgr to rgb

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Qizhi Chen
2025-04-27 00:50:53 +08:00
committed by GitHub
parent 3e4e37317e
commit 52d5000c34
1 changed files with 6 additions and 0 deletions
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openx2lerobot/oxe_utils/transforms.py
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@@ -826,6 +826,12 @@ def gnm_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]:
def fmb_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: def fmb_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]:
# flip image from bgr to rgb
trajectory["observation"]["image_wrist_1"] = trajectory["observation"]["image_wrist_1"][..., ::-1]
trajectory["observation"]["image_wrist_2"] = trajectory["observation"]["image_wrist_2"][..., ::-1]
trajectory["observation"]["image_side_1"] = trajectory["observation"]["image_side_1"][..., ::-1]
trajectory["observation"]["image_side_2"] = trajectory["observation"]["image_side_2"][..., ::-1]
# every input feature is batched, ie has leading batch dimension # every input feature is batched, ie has leading batch dimension
trajectory["observation"]["proprio"] = tf.concat( trajectory["observation"]["proprio"] = tf.concat(
( (