scripts/tools/check_hdf5.py

"""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()