File size: 1,794 Bytes
406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 | """Quick HDF5 structure sanity-check.
This script is intentionally lightweight and is meant for quick inspection from the terminal.
"""
from __future__ import annotations
import argparse
import h5py
def _first_data_demo_group(h5_file: h5py.File) -> h5py.Group:
if "data" not in h5_file:
raise KeyError("HDF5 file missing top-level 'data' group")
data_grp = h5_file["data"]
demo_keys = sorted(data_grp.keys())
if len(demo_keys) == 0:
raise ValueError("No demos found under 'data'")
return data_grp[demo_keys[0]]
def main() -> None:
parser = argparse.ArgumentParser(description="Inspect basic structure of an IsaacLab HDF5 dataset")
parser.add_argument(
"path",
nargs="?",
default="datasets/generated_dataset_pick_place_camera_g1.hdf5",
help="Path to the HDF5 dataset",
)
args = parser.parse_args()
with h5py.File(args.path, "r") as f:
demo0 = _first_data_demo_group(f)
print("dataset:", args.path)
print("episode keys:", list(demo0.keys()))
print("obs keys:", list(demo0["obs"].keys()) if "obs" in demo0 else None)
print("states keys:", list(demo0["states"].keys()) if "states" in demo0 else None)
datagen_info = demo0.get("obs", {}).get("datagen_info") if "obs" in demo0 else None
if datagen_info is None:
print("datagen_info: <missing>")
return
print("datagen_info keys:", list(datagen_info.keys()))
subtask_term_signals = datagen_info.get("subtask_term_signals")
if subtask_term_signals is None:
print("subtask_term_signals: <missing>")
return
print("subtask_term_signals keys:", list(subtask_term_signals.keys()))
if __name__ == "__main__":
main() |