Init

wall_x/data/config.py

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+from typing import List, Dict, Optional
+from dataclasses import dataclass, field
+from qwen_vl_utils.vision_process import MIN_PIXELS, MAX_PIXELS, IMAGE_FACTOR
+
+
+# Tactile sensor file mapping for data processing
+TACTILE_FILE_MAPPING = {
+    "tactile_data_left": "left_tactile", 
+    "tactile_data_right": "right_tactile"
+}
+
+# Supported action datasets
+ACTION_DATASET_NAMES = [
+    "x2_normal", "agibotworld_alpha", "droid", "fractal", "bridge_data_v2", 
+    "DobbE", "RH20T", "UMI-biarm", "austin_buds", "austin_sailor", "austin_sirius", 
+    "bc_z", "berkeley_autolab_ur5", "berkeley_cable_routing", "berkeley_fanuc_manipulation", 
+    "dlr_edan_shared_control", "fmb", "furniture_bench", "jaco_play", "nyu_rot", 
+    "stanford_hydra", "stanford_kuka_multimodal", "taco_play", "utaustin_mutex", "viola"
+]
+
+# Supported multimodal datasets
+MULTIMODAL_DATASET_NAMES = [
+    "x2_multimodal_from_action", "x2_multimodal", "x2_subtask_generation",
+    "multimodal_CapsFusion", "multimodal_Robo2VLM", "multimodal_RoboPoint", 
+    "multimodal_EQA", "multimodal_Cambrian", "multimodal_pixmo", 
+    "multimodal_VQAv2", "multimodal_COCO"
+]
+
+
+@dataclass
+class X2RDataProcessingConfig:
+    """Configuration class for X2R data processing pipeline.
+    
+    This class contains all the necessary parameters for processing robotic data
+    including camera mappings, tactile sensor configurations, action predictions,
+    and various processing options.
+    """
+    
+    # Action prediction configuration
+    predict_action_keys: List[str] = field(default_factory=list)
+    obs_action_keys: List[str] = field(default_factory=list)
+    
+    # Image resolution settings for different views
+    resolution: Dict[str, int] = field(
+        default_factory=lambda: {
+            "face_view": -1, 
+            "left_wrist_view": 128, 
+            "right_wrist_view": 128
+        }
+    )
+    
+    # Dataset splitting
+    train_test_split: float = 0.9
+    split_seed: int = 42
+    
+    # Instruction handling
+    priority_order: Optional[Dict[str, float]] = None
+    
+    # Vision model parameters
+    model_type: str = "qwen2_5"
+    max_pixels: int = MAX_PIXELS
+    min_pixels: int = MIN_PIXELS
+    image_factor: int = IMAGE_FACTOR
+
+    generate_subtask_ratio: float = 0.0
+    
+    def __post_init__(self):
+        """Post-initialization validation and setup."""
+        # Validate train/test split
+        if not 0 < self.train_test_split < 1:
+            raise ValueError(f"train_test_split must be between 0 and 1, got {self.train_test_split}")
+    
+    def as_dict(self) -> Dict:
+        """Convert configuration to dictionary format.
+        
+        Returns:
+            Dict: Configuration as dictionary
+        """
+        return self.__dict__
+    
+    def update(self, **kwargs) -> 'X2RDataProcessingConfig':
+        """Update configuration parameters.
+        
+        Args:
+            **kwargs: Key-value pairs to update
+            
+        Returns:
+            X2RDataProcessingConfig: Updated configuration instance
+        """
+        for key, value in kwargs.items():
+            if hasattr(self, key):
+                setattr(self, key, value)
+            else:
+                raise ValueError(f"Unknown configuration parameter: {key}")
+        return self