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import pickle |
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import matplotlib.pyplot as plt |
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from PIL import Image |
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import io |
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import numpy as np |
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with open('sample_000000000000.data.pickle', 'rb') as f: |
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data = pickle.load(f) |
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def imbytes2arr(b): |
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return np.array(Image.open(io.BytesIO(b))) |
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step = data['steps'][0] |
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print("Instruction:", step['observation']['natural_language_instruction'].decode()) |
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fig, axs = plt.subplots(1, 3, figsize=(12, 4)) |
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titles = ['image', 'hand_image', 'image_with_depth'] |
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keys = ['image', 'hand_image', 'image_with_depth'] |
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for ax, t, k in zip(axs, titles, keys): |
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img = imbytes2arr(step['observation'][k]) |
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ax.imshow(img) |
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ax.set_title(t) |
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ax.axis('off') |
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plt.tight_layout() |
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plt.savefig('step0_views.png', dpi=120) |
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print('Saved -> step0_views.png') |
