记录动作以及回放record_demo,replay_demo

scripts/tools/merge_hdf5_datasets.py

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+# 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()