{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "44b6da09",
   "metadata": {},
   "source": [
    "# Extract subset data \n",
    "\n",
    "Original hdf5 file contains about 3000 episodes. However, it contains a key \"masks\", which contain list of subset demo_ids. For example: 30_demos : [demo123, demo234, demo 345, etc.]\n",
    "\n",
    "Run the code bellow to extract only chosen subset demos, which is much smaller and easier for later process."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "6ac64550",
   "metadata": {},
   "outputs": [],
   "source": [
    "import h5py\n",
    "\n",
    "DATA_DIR=\"direction/to/your/hdf5/files/\"\n",
    "# E.x: DATA_DIR=\"/projects/extern/kisski/kisski-spath/dir.project/VLA_3D/binh/robocasa/test\"\n",
    "\n",
    "# file_name = \"PnPCabToCounter.hdf5\"\n",
    "# file_name = \"PnPCounterToCab.hdf5\"\n",
    "# file_name = \"CoffeeSetupMug.hdf5\"\n",
    "# file_name = \"TurnOnMicrowave.hdf5\"\n",
    "file_name = \"TurnOffStove.hdf5\"\n",
    "\n",
    "file_path = DATA_DIR + \"/\" + file_name\n",
    "\n",
    "f = h5py.File(file_path, 'r')\n",
    "chosen_demo_list = []\n",
    "for i in f['mask']['100_demos'][:]: # or \"30_demos\"\n",
    "    chosen_demo_list.append(i.decode('utf-8'))\n",
    "    \n",
    "chosen_data = []\n",
    "for k in f['data'].keys():\n",
    "    if k in chosen_demo_list:\n",
    "        chosen_data.append(f['data'][k])\n",
    "        \n",
    "with h5py.File(f\"direction_to_your_new_extracted_subset/{file_name}\", \"w\") as out:\n",
    "    out_data = out.create_group(\"data\")\n",
    "    \n",
    "    for key, val in f['data'].attrs.items():\n",
    "            out_data.attrs[key] = val # IMPORTANT: set attributes for new hdf5 files (need for reset env and later re-render)\n",
    "\n",
    "    for grp in chosen_data:\n",
    "        name = grp.name.split(\"/\")[-1]   # demo_xxx\n",
    "        grp.file.copy(grp, out_data, name=name)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "robocasa",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "name": "python",
   "version": "3.10.19"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}