Create test_data.py

test_data.py

@@ -0,0 +1,60 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
+import pickle
+import cv2
+from enum import Enum
+from typing import Any, Dict, List, Optional
+
+import matplotlib.pyplot as plt
+import numpy as np
+import open3d
+import torch
+from atomicwrites import atomic_write
+from loguru import logger
+
+import home_robot.utils.planar as nc
+from examples.demo_utils.mock_agent import MockSpotDemoAgent
+
+# Simple IO tool for robot agents
+from home_robot.agent.multitask.robot_agent import RobotAgent, publish_obs
+from home_robot.mapping.voxel import SparseVoxelMap  # Aggregate 3d information
+from home_robot.mapping.voxel import (  # Sample positions in free space for our robot to move to
+    SparseVoxelMapNavigationSpace,
+)
+from home_robot.motion import ConfigurationSpace, Planner, PlanResult
+from home_robot.motion.rrt_connect import RRTConnect
+from home_robot.motion.shortcut import Shortcut
+from home_robot.motion.spot import (  # Just saves the Spot robot footprint for kinematic planning
+    SimpleSpotKinematics,
+)
+from home_robot.perception import create_semantic_sensor
+from home_robot.perception.encoders import ClipEncoder
+from home_robot.utils.config import Config, get_config, load_config
+from home_robot.utils.demo_chat import (
+    DemoChat,
+    start_demo_ui_server,
+    stop_demo_ui_server,
+)
+from PIL import Image
+from home_robot.utils.geometry import xyt_global_to_base
+from home_robot.utils.point_cloud import numpy_to_pcd
+from home_robot.utils.rpc import (
+    get_obj_centric_world_representation,
+    get_output_from_world_representation,
+    get_vlm_rpc_stub,
+    parse_pick_and_place_plan,
+)
+from home_robot.utils.threading import Interval
+from home_robot.utils.visualization import get_x_and_y_from_path
+from home_robot_spot import SpotClient, VoxelMapSubscriber
+from home_robot_spot.grasp_env import GraspController
+
+
+p = "/home/jaydv/code/home-robot/data/hw_exps/spot/2023-12-13-16-19-13/spot_output_2023-12-13-16-19-13.pkl"
+ob = open(p, 'rb+')
+obj = pickle.load(ob)
+#obj should be a dict
+print(obj.keys()) #['camera_poses', 'base_poses', 'xyz', 'rgb', 'depth', 'feats', 'obs', 'prompt', 'combined_xyz', 'combined_feats', 'combined_weights', 'combined_rgb']