Upload libero_plus/postprocess_hdf5_metadata.py

libero_plus/postprocess_hdf5_metadata.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python
+"""
+Post-process LIBERO HDF5 files:
+- Read language instruction from:
+    task_visualizations/libero_10/{task_name}/task_description_id.txt
+- Extract line 2 and line 3
+- Write into HDF5: data.problem_info.language_instruction(s)
+"""
+
+import os
+import h5py
+import json
+import argparse
+from tqdm import tqdm
+from pathlib import Path
+
+
+def read_lang_lines(txt_path):
+    """Read non-empty lines and return line 1 and 2 (index 1 and 2)"""
+    with open(txt_path, 'r', encoding='utf-8') as f:
+        lines = [line.strip() for line in f.readlines() if line.strip()]
+    if len(lines) < 3:
+        raise ValueError(f"Not enough lines in {txt_path}, got {len(lines)}")
+    return lines[1], lines[2]  # 第二行和第三行
+
+
+def postprocess_all_hdf5s(hdf5_dir, viz_parent_dir="task_visualizations"):
+    """
+    :param hdf5_dir: 包含 .hdf5 文件的目录，如 "libero_10"
+    :param viz_parent_dir: 可视化根目录，下有子目录如 libero_10/
+    """
+    # 获取所有 HDF5 文件
+    hdf5_files = [f for f in os.listdir(hdf5_dir) if f.endswith(".hdf5")]
+    hdf5_files.sort()
+    
+    if not hdf5_files:
+        print(f"❌ No HDF5 files found in {hdf5_dir}")
+        return
+
+    print(f"Found {len(hdf5_files)} HDF5 files.")
+
+    for fname in tqdm(hdf5_files, desc="Updating HDF5 metadata"):
+        hdf5_path = os.path.join(hdf5_dir, fname)
+        task_name = Path(fname).stem  # 去掉 .hdf5，保留完整名（含 _demo）
+
+        # 构造 visualization 目录路径
+        viz_dir = os.path.join(viz_parent_dir, Path(hdf5_dir).name, task_name)
+        desc_txt_path = os.path.join(viz_dir, "task_description_id.txt")
+
+        if not os.path.exists(desc_txt_path):
+            print(f"⚠️  Missing task_description_id.txt: {desc_txt_path}")
+            continue
+
+        try:
+            lang_inst, lang_inst_with_id = read_lang_lines(desc_txt_path)
+        except Exception as e:
+            print(f"❌ Failed to read {desc_txt_path}: {e}")
+            continue
+
+        # 修改 HDF5 文件
+        try:
+            with h5py.File(hdf5_path, "a") as f:
+                if "data" not in f:
+                    print(f"❌ Group 'data' not found in {hdf5_path}")
+                    continue
+                data_grp = f["data"]
+
+                # 读取或初始化 problem_info
+                if "problem_info" in data_grp.attrs:
+                    prob_info_str = data_grp.attrs["problem_info"]
+                    if isinstance(prob_info_str, bytes):
+                        prob_info_str = prob_info_str.decode("utf-8")
+                    problem_info = json.loads(prob_info_str)
+                else:
+                    problem_info = {}
+
+                # 更新字段
+                problem_info["language_instruction"] = lang_inst
+                problem_info["language_instruction_with_id"] = lang_inst_with_id
+
+                # 写回属性（modify 支持变长字符串）
+                data_grp.attrs.modify("problem_info", json.dumps(problem_info, ensure_ascii=False))
+
+            print(f"✅ Updated: {fname}")
+
+        except Exception as e:
+            print(f"❌ Error writing to {hdf5_path}: {e}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Add language_instruction fields from task_description_id.txt")
+    parser.add_argument(
+        "--hdf5-dir",
+        type=str,
+        default="libero_spatial",
+        help="Directory containing the HDF5 files (e.g., libero_object/)"
+    )
+    parser.add_argument(
+        "--viz-parent-dir",
+        type=str,
+        default="task_visualizations",
+        help="Parent directory of visualizations (default: task_visualizations/)"
+    )
+
+    args = parser.parse_args()
+
+    postprocess_all_hdf5s(args.hdf5_dir, args.viz_parent_dir)
+
+    # object