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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 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import argparse
import os
import h5py
parser = argparse.ArgumentParser(description="Merge a set of HDF5 datasets.")
parser.add_argument(
"--input_files",
type=str,
nargs="+",
default=[],
help="A list of paths to HDF5 files to merge.",
)
parser.add_argument("--output_file", type=str, default="merged_dataset.hdf5", help="File path to merged output.")
args_cli = parser.parse_args()
def merge_datasets():
for filepath in args_cli.input_files:
if not os.path.exists(filepath):
raise FileNotFoundError(f"The dataset file {filepath} does not exist.")
with h5py.File(args_cli.output_file, "w") as output:
episode_idx = 0
copy_attributes = True
for filepath in args_cli.input_files:
with h5py.File(filepath, "r") as input:
for episode, data in input["data"].items():
input.copy(f"data/{episode}", output, f"data/demo_{episode_idx}")
episode_idx += 1
if copy_attributes:
output["data"].attrs["env_args"] = input["data"].attrs["env_args"]
copy_attributes = False
print(f"Merged dataset saved to {args_cli.output_file}")
if __name__ == "__main__":
merge_datasets()
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