load_data_sample.py

'''
MIT License

Copyright (c) 2025 Snehesh Shrestha

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'''

'''
Description
--------------------
If you look in load_data_sample.py, it is pretty simple to load the data using numpy
data = np.load...
then data[0] is your first command, robot response, etc. Then data[1] is your next data and so on.

The fields you will care about are:
Speech -> Text of the speech
Gesture -> Array of human 2d pose sequence of the gestures
HasSpeech -> 1 or 0 if this command has speech or not
HasGesture -> has gesture or not
Start_Frame -> Image name of the what the robot sees when the command was given
Stop_Frame -> Image name of what the robot sees when the task was completed
BaxterState -> Robot motor angle sequences for each task completed
BBox_One_Hot_Encoding -> one hot encoding of the objects that the command referred to and the robot interacted with
BBoxes -> Bounding boxes of all the objects visible (format object instance there are total of 17 objects, and x1,y1,x2,y2) 
'''


import numpy as np

dataset = np.load('../../data/states_and_features/natsgld_states_and_features_v1.0_sample.npz', allow_pickle=True)['NatComm'].item()
# Pariticipants
#dict_keys([64, 70, 40, 45, 49, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63])
print(dataset.keys())

p40 = dataset[40]

# Show all keys
print(p40.keys())
# OUTPUT: dict_keys(['tdUEHP6Z8TATRsvicJS7cy2JhUJpIeCe', 'tznNogt30s9RhnohZmbjuDqliNAvSoMQ', ... ])

# See a sample data
print(p40['tdUEHP6Z8TATRsvicJS7cy2JhUJpIeCe'])
#
# FORMAT: [ DBSN, SID, Start Time, End Time, Sudo Speech, Has Speech, Has Gesture, Action, Object, { Speech UID: [ Start time, End time, Speech, [ Glove Embedding for each word ] ]}, { 'gesture_keypoints' : [ OpenPose keypoints ] }, { 'gesture_info': [...] }
#
# OUTPUT: [1129, 27, 416300, 418749, 'turn back', 1, 1, 'on', 'gas', {'Lq9pA5GDkCvZjOts1YaP7pAlvOoiblUV': [416700, 417800, 'so turn back', [array([ ...], dtype=float32), array([ ... ], dtype=float32), array([ ...], dtype=float32)]]}, {'gesture_keypoints': array([[[..., [653, 245, 680, ..., 604, 671, 596]]]), 'gesture_info': [1.0, 1.0, 'RH|', 0.0, nan, 0.0, nan]}]