File size: 3,889 Bytes
3255c6b |
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 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 |
import argparse
import json
import os
import time
import cv2
import h5py
import numpy as np
import tqdm
def sort_key_hdf5(name):
# extract number after 'demo_'
number = int(name.split('_')[-1].split('.')[0])
return number
def sort_key_metainfo(name):
# extract number after 'demo_'
number = int(name.split('_')[-2].split('.')[0])
return number
def recursive_merge(dest, src):
for key, value in src.items():
if key in dest and isinstance(dest[key], dict) and isinstance(value, dict):
recursive_merge(dest[key], value)
else:
dest[key] = value
def recursive_copy(src, dest):
for key in src.keys():
if isinstance(src[key], h5py.Group):
new_grp = dest.create_group(key)
recursive_copy(src[key], new_grp)
elif isinstance(src[key], h5py.Dataset):
src.copy(key, dest)
for attr_key in src.attrs:
dest.attrs[attr_key] = src.attrs[attr_key]
def main(args):
# Prepare JSON file to record success/false and initial states per episode
metainfo_json_dict = {}
metainfo_json_out_path = os.path.join(args.out_dir, f"./metainfo.json")
with open(metainfo_json_out_path, "w") as f:
# Just test that we can write to this file (we overwrite it later)
json.dump(metainfo_json_dict, f)
# Get task suite
task_suite = ['task1', 'task2', 'task3']
num_tasks_in_suite = 3
# Iterate through the task suites
for task_id in tqdm.tqdm(range(num_tasks_in_suite)):
# Get task in suite
task = task_suite[task_id]
data_dir = os.path.join('./', task)
data_files = os.listdir(data_dir)
hdf5_files = [_file for _file in data_files if '.hdf5' in _file]
hdf5_files = sorted(hdf5_files, key=sort_key_hdf5)
meta_files = [_file for _file in data_files if '_metainfo.json' in _file]
meta_files = sorted(meta_files, key=sort_key_metainfo)
# Create new HDF5 file for regenerated demos
new_data_path = os.path.join(args.out_dir, f"{task}_demo.hdf5")
new_data_file = h5py.File(new_data_path, "w")
grp = new_data_file.create_group("data")
for idx, hdf5_name in tqdm.tqdm(enumerate(hdf5_files)):
hdf5_name = os.path.join(data_dir, hdf5_name)
traj_data_file = h5py.File(hdf5_name, "r")
traj_data = traj_data_file["data"]
# Copy trajectory data
for ep_key in traj_data.keys():
src_grp = traj_data[ep_key]
dest_grp = grp.create_group(ep_key)
recursive_copy(src_grp, dest_grp)
traj_data_file.close()
meta_name = os.path.join(data_dir, meta_files[idx])
with open(meta_name, "r") as f:
# Just test that we can write to this file (we overwrite it later)
meta_data = json.load(f)
meta_data_key = list(meta_data.keys())[0]
demo_data_key = list(meta_data[meta_data_key].keys())[0]
indexed_meta_data = meta_data[meta_data_key][demo_data_key]
# Recursively merge the meta data
recursive_merge(metainfo_json_dict, meta_data)
# Write metainfo dict to JSON file
# (We repeatedly overwrite, rather than doing this once at the end, just in case the script crashes midway)
with open(metainfo_json_out_path, "w") as f:
json.dump(metainfo_json_dict, f, indent=2)
# if idx > 1:
# break
new_data_file.close()
if __name__ == '__main__':
# Parse command-line arguments
parser = argparse.ArgumentParser()
parser.add_argument("--in_dir", default='./')
parser.add_argument("--out_dir", default='./')
args = parser.parse_args()
main(args)
|