cliport/dataset.py

"""Image dataset."""

import os
import pickle
import warnings

import numpy as np
from torch.utils.data import Dataset

from cliport import tasks
from cliport.tasks import cameras
from cliport.utils import utils
import traceback

# See transporter.py, regression.py, dummy.py, task.py, etc.
PIXEL_SIZE = 0.003125
CAMERA_CONFIG = cameras.RealSenseD415.CONFIG
BOUNDS = np.array([[0.25, 0.75], [-0.5, 0.5], [0, 0.28]])

# Names as strings, REVERSE-sorted so longer (more specific) names are first.
TASK_NAMES = (tasks.names).keys()
TASK_NAMES = sorted(TASK_NAMES)[::-1]


class RavensDataset(Dataset):
    """A simple image dataset class."""

    def __init__(self, path, cfg, n_demos=0, augment=False):
        """A simple RGB-D image dataset."""
        self._path = path

        self.cfg = cfg
        self.sample_set = []
        self.max_seed = -1
        self.n_episodes = 0
        self.images = self.cfg['dataset']['images']
        self.cache = self.cfg['dataset']['cache']
        self.n_demos = n_demos
        self.augment = augment

        self.aug_theta_sigma = self.cfg['dataset']['augment']['theta_sigma'] if 'augment' in self.cfg['dataset'] else 60  # legacy code issue: theta_sigma was newly added
        self.pix_size = 0.003125
        self.in_shape = (320, 160, 6)
        self.cam_config = cameras.RealSenseD415.CONFIG
        self.bounds = np.array([[0.25, 0.75], [-0.5, 0.5], [0, 0.28]])

        # Track existing dataset if it exists.
        color_path = os.path.join(self._path, 'action')
        if os.path.exists(color_path):
            for fname in sorted(os.listdir(color_path)):
                if '.pkl' in fname:
                    seed = int(fname[(fname.find('-') + 1):-4])
                    self.n_episodes += 1
                    self.max_seed = max(self.max_seed, seed)

        self._cache = {}

        if self.n_demos > 0:
            self.images = self.cfg['dataset']['images']
            self.cache = self.cfg['dataset']['cache']

            # Check if there sufficient demos in the dataset
            if self.n_demos > self.n_episodes:
                # raise Exception(f"Requested training on {self.n_demos} demos, but only {self.n_episodes} demos exist in the dataset path: {self._path}.")
                print(f"Requested training on {self.n_demos} demos, but only {self.n_episodes} demos exist in the dataset path: {self._path}.")
                self.n_demos = self.n_episodes

            episodes = np.random.choice(range(self.n_episodes), self.n_demos, False)
            self.set(episodes)


    def add(self, seed, episode):
        """Add an episode to the dataset.

        Args:
          seed: random seed used to initialize the episode.
          episode: list of (obs, act, reward, info) tuples.
        """
        color, depth, action, reward, info = [], [], [], [], []
        for obs, act, r, i in episode:
            color.append(obs['color'])
            depth.append(obs['depth'])
            action.append(act)
            reward.append(r)
            info.append(i)

        color = np.uint8(color)
        depth = np.float32(depth)

        def dump(data, field):
            field_path = os.path.join(self._path, field)
            if not os.path.exists(field_path):
                os.makedirs(field_path)
            fname = f'{self.n_episodes:06d}-{seed}.pkl'  # -{len(episode):06d}
            with open(os.path.join(field_path, fname), 'wb') as f:
                pickle.dump(data, f)

        dump(color, 'color')
        dump(depth, 'depth')
        dump(action, 'action')
        dump(reward, 'reward')
        dump(info, 'info')

        self.n_episodes += 1
        self.max_seed = max(self.max_seed, seed)

    def set(self, episodes):
        """Limit random samples to specific fixed set."""
        self.sample_set = episodes

    def load(self, episode_id, images=True, cache=False):
        # TODO(lirui): consider loading into memory
        def load_field(episode_id, field, fname):

            # Check if sample is in cache.
            if cache:
                if episode_id in self._cache:
                    if field in self._cache[episode_id]:
                        return self._cache[episode_id][field]
                else:
                    self._cache[episode_id] = {}

            # Load sample from files.
            path = os.path.join(self._path, field)
            data = pickle.load(open(os.path.join(path, fname), 'rb'))
            if cache:
                self._cache[episode_id][field] = data
            return data

        # Get filename and random seed used to initialize episode.
        seed = None
        path = os.path.join(self._path, 'action')
        for fname in sorted(os.listdir(path)):
            if f'{episode_id:06d}' in fname:
                seed = int(fname[(fname.find('-') + 1):-4])

                # Load data.
                color = load_field(episode_id, 'color', fname)
                depth = load_field(episode_id, 'depth', fname)
                action = load_field(episode_id, 'action', fname)
                reward = load_field(episode_id, 'reward', fname)
                info = load_field(episode_id, 'info', fname)

                # Reconstruct episode.
                episode = []
                for i in range(len(action)):
                    obs = {'color': color[i], 'depth': depth[i]} if images else {}
                    episode.append((obs, action[i], reward[i], info[i]))
                return episode, seed
            
        print(f'{episode_id:06d} not in ', path)

    def get_image(self, obs, cam_config=None):
        """Stack color and height images image."""

        # if self.use_goal_image:
        #   colormap_g, heightmap_g = utils.get_fused_heightmap(goal, configs)
        #   goal_image = self.concatenate_c_h(colormap_g, heightmap_g)
        #   input_image = np.concatenate((input_image, goal_image), axis=2)
        #   assert input_image.shape[2] == 12, input_image.shape

        if cam_config is None:
            cam_config = self.cam_config

        # Get color and height maps from RGB-D images.
        cmap, hmap = utils.get_fused_heightmap(
            obs, cam_config, self.bounds, self.pix_size)
        img = np.concatenate((cmap,
                              hmap[Ellipsis, None],
                              hmap[Ellipsis, None],
                              hmap[Ellipsis, None]), axis=2)
        assert img.shape == self.in_shape, img.shape
        return img

    def process_sample(self, datum, augment=True):
        # Get training labels from data sample.
        (obs, act, _, info) = datum
        img = self.get_image(obs)

        # p0, p1 = None, None
        # p0_theta, p1_theta = None, None
        # perturb_params =  None
        p0, p1 = np.zeros(1), np.zeros(1)
        p0_theta, p1_theta = np.zeros(1), np.zeros(1)
        perturb_params =  np.zeros(5)

        if act:
            p0_xyz, p0_xyzw = act['pose0']
            p1_xyz, p1_xyzw = act['pose1'] 
            p0 = utils.xyz_to_pix(p0_xyz, self.bounds, self.pix_size) 
            p0_theta = -np.float32(utils.quatXYZW_to_eulerXYZ(p0_xyzw)[2])
            p1 = utils.xyz_to_pix(p1_xyz, self.bounds, self.pix_size)
            p1_theta = -np.float32(utils.quatXYZW_to_eulerXYZ(p1_xyzw)[2])
            p1_theta = p1_theta - p0_theta
            p0_theta = 0

        # Data augmentation.
        if augment:
            img, _, (p0, p1), perturb_params = utils.perturb(img, [p0, p1], theta_sigma=self.aug_theta_sigma)

        # print("sample", p0,p1,p0_theta,p1_theta,perturb_params)
        sample = {
            'img': img.copy(),
            'p0': np.array(p0).copy(), 'p0_theta': np.array(p0_theta).copy(),
            'p1': np.array(p1).copy(), 'p1_theta': np.array(p1_theta).copy() ,
            'perturb_params': np.array(perturb_params).copy() 
        }

        # Add language goal if available.
        if 'lang_goal' not in info:
            warnings.warn("No language goal. Defaulting to 'task completed.'")

        if info and 'lang_goal' in info:
            sample['lang_goal'] = info['lang_goal']
        else:
            sample['lang_goal'] = "task completed."

        return sample

    def process_goal(self, goal, perturb_params):
        # Get goal sample.
        (obs, act, _, info) = goal
        img = self.get_image(obs)

        # p0, p1 = None, None
        # p0_theta, p1_theta = None, None

        p0, p1 = np.zeros(1), np.zeros(1)
        p0_theta, p1_theta = np.zeros(1), np.zeros(1)

        # Data augmentation with specific params.
        # try:
        if perturb_params is not None and len(perturb_params) > 1:
            img = utils.apply_perturbation(img, perturb_params)
 
        sample = {
            'img': img.copy(),
            'p0': p0 , 'p0_theta': np.array(p0_theta).copy(),
            'p1': p1, 'p1_theta': np.array(p1_theta).copy(),
            'perturb_params': np.array(perturb_params).copy()
        }

        # Add language goal if available.
        if 'lang_goal' not in info:
            warnings.warn("No language goal. Defaulting to 'task completed.'")
        # print("goal",p0,p1,p0_theta,p1_theta,perturb_params)

        if info and 'lang_goal' in info:
            sample['lang_goal'] = info['lang_goal']
        else:
            sample['lang_goal'] = "task completed."

        return sample

    def __len__(self):
        return len(self.sample_set)

    def __getitem__(self, idx):
        # Choose random episode.
        # if len(self.sample_set) > 0:
        #     episode_id = np.random.choice(self.sample_set)
        # else:
        #     episode_id = np.random.choice(range(self.n_episodes))
        episode_id = self.sample_set[idx]
        res = self.load(episode_id, self.images, self.cache)
        if res is None:
            print("in get item", episode_id,   self._path)
            print("load sample return None. Reload")
            print("Exception:", str(traceback.format_exc()))
            return self[0] # 

        episode, _  = res
        # Is the task sequential like stack-block-pyramid-seq?
        is_sequential_task = '-seq' in self._path.split("/")[-1]

        # Return random observation action pair (and goal) from episode.
        i = np.random.choice(range(len(episode)-1))
        g = i+1 if is_sequential_task else -1
        sample, goal = episode[i], episode[g]

        # Process sample.
        sample = self.process_sample(sample, augment=self.augment)
        goal = self.process_goal(goal, perturb_params=sample['perturb_params'])
        return sample, goal


class RavensMultiTaskDataset(RavensDataset):


    def __init__(self, path, cfg, group='multi-all',
                 mode='train', n_demos=100, augment=False):
        """A multi-task dataset."""
        self.root_path = path
        self.mode = mode
        if group not in self.MULTI_TASKS:
            # generate the groups on the fly
            self.tasks = list(set(group)) # .split(" ")
        else:
            self.tasks = self.MULTI_TASKS[group][mode]
        
        print("self.tasks:", self.tasks)
        self.attr_train_task = self.MULTI_TASKS[group]['attr_train_task'] if group in self.MULTI_TASKS and 'attr_train_task' in self.MULTI_TASKS[group] else None

        self.cfg = cfg
        self.sample_set = {}
        self.max_seed = -1
        self.n_episodes = 0
        self.images = self.cfg['dataset']['images']
        self.cache = self.cfg['dataset']['cache']
        self.n_demos = n_demos
        self.augment = augment

        self.aug_theta_sigma = self.cfg['dataset']['augment']['theta_sigma'] if 'augment' in self.cfg['dataset'] else 60  # legacy code issue: theta_sigma was newly added
        self.pix_size = 0.003125
        self.in_shape = (320, 160, 6)
        self.cam_config = cameras.RealSenseD415.CONFIG
        self.bounds = np.array([[0.25, 0.75], [-0.5, 0.5], [0, 0.28]])

        self.n_episodes = {}
        episodes = {}

        for task in self.tasks:
            task_path = os.path.join(self.root_path, f'{task}-{mode}')
            action_path = os.path.join(task_path, 'action')
            n_episodes = 0
            if os.path.exists(action_path):
                for fname in sorted(os.listdir(action_path)):
                    if '.pkl' in fname:
                        n_episodes += 1
            self.n_episodes[task] = n_episodes

            if n_episodes == 0:
                raise Exception(f"{task}-{mode} has 0 episodes. Remove it from the list in dataset.py")

            # Select random episode depending on the size of the dataset.
            episodes[task] = np.random.choice(range(n_episodes), min(self.n_demos, n_episodes), False)

        if self.n_demos > 0:
            self.images = self.cfg['dataset']['images']
            self.cache = False # TODO(mohit): fix caching for multi-task dataset
            self.set(episodes)

        self._path = None
        self._task = None

    def __len__(self):
        # Average number of episodes across all tasks
        total_episodes = 0
        for _, episode_ids in self.sample_set.items():
            total_episodes += len(episode_ids)
        avg_episodes = total_episodes  # // len(self.sample_set)
        return avg_episodes

    def __getitem__(self, idx):
        # Choose random task.
        self._task = self.tasks[idx % len(self.tasks)] # np.random.choice(self.tasks)
        self._path = os.path.join(self.root_path, f'{self._task}')

        # Choose random episode.
        if len(self.sample_set[self._task]) > 0:
            episode_id = np.random.choice(self.sample_set[self._task])
        else:
            episode_id = np.random.choice(range(self.n_episodes[self._task]))

        res = self.load(episode_id, self.images, self.cache)
        if res is None:
            print("failed in get item", episode_id, self._task, self._path)
            print("Exception:", str(traceback.format_exc()))

            return self[np.random.randint(len(self))] #

        episode, _  = res

        # Is the task sequential like stack-block-pyramid-seq?
        is_sequential_task = '-seq' in self._path.split("/")[-1]

        # Return observation action pair (and goal) from episode.
        if len(episode) > 1:
            i = np.random.choice(range(len(episode)-1))
            g = i+1 if is_sequential_task else -1
            sample, goal = episode[i], episode[g]
        else:
            sample, goal = episode[0], episode[0]

        # Process sample
        sample = self.process_sample(sample, augment=self.augment)
        goal = self.process_goal(goal, perturb_params=sample['perturb_params'])

        return sample, goal

    def add(self, seed, episode):
        raise Exception("Adding tasks not supported with multi-task dataset")

    def load(self, episode_id, images=True, cache=False):
        # if self.attr_train_task is None or self.mode in ['val', 'test']:
        #     self._task = np.random.choice(self.tasks)
        # else:
        #     all_other_tasks = list(self.tasks)
        #     all_other_tasks.remove(self.attr_train_task)
        #     all_tasks = [self.attr_train_task] + all_other_tasks # add seen task in the front

        #     # 50% chance of sampling the main seen task and 50% chance of sampling any other seen-unseen task
        #     mult_attr_seen_sample_prob = 0.5
        #     sampling_probs = [(1-mult_attr_seen_sample_prob) / (len(all_tasks)-1)] * len(all_tasks)
        #     sampling_probs[0] = mult_attr_seen_sample_prob

        #     self._task = np.random.choice(all_tasks, p=sampling_probs)

        self._path = os.path.join(self.root_path, f'{self._task}-{self.mode}')
        return super().load(episode_id, images, cache)

    def get_curr_task(self):
        return self._task


    MULTI_TASKS = {
        # new expeeriments
        'multi-gpt-test': {
            'train': ['align-box-corner', 'rainbow-stack'],
            'val': ['align-box-corner', 'rainbow-stack'],
            'test': ['align-box-corner', 'rainbow-stack']
            },

        # all tasks
        'multi-all': {
            'train': [
                'align-box-corner',
                'assembling-kits',
                'block-insertion',
                'manipulating-rope',
                'packing-boxes',
                'palletizing-boxes',
                'place-red-in-green',
                'stack-block-pyramid',
                'sweeping-piles',
                'towers-of-hanoi',
                'align-rope',
                'assembling-kits-seq-unseen-colors',
                'packing-boxes-pairs-unseen-colors',
                'packing-shapes',
                'packing-unseen-google-objects-seq',
                'packing-unseen-google-objects-group',
                'put-block-in-bowl-unseen-colors',
                'stack-block-pyramid-seq-unseen-colors',
                'separating-piles-unseen-colors',
                'towers-of-hanoi-seq-unseen-colors',
            ],
            'val': [
                'align-box-corner',
                'assembling-kits',
                'block-insertion',
                'manipulating-rope',
                'packing-boxes',
                'palletizing-boxes',
                'place-red-in-green',
                'stack-block-pyramid',
                'sweeping-piles',
                'towers-of-hanoi',
                'align-rope',
                'assembling-kits-seq-seen-colors',
                'assembling-kits-seq-unseen-colors',
                'packing-boxes-pairs-seen-colors',
                'packing-boxes-pairs-unseen-colors',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-unseen-google-objects-seq',
                'packing-seen-google-objects-group',
                'packing-unseen-google-objects-group',
                'put-block-in-bowl-seen-colors',
                'put-block-in-bowl-unseen-colors',
                'stack-block-pyramid-seq-seen-colors',
                'stack-block-pyramid-seq-unseen-colors',
                'separating-piles-seen-colors',
                'separating-piles-unseen-colors',
                'towers-of-hanoi-seq-seen-colors',
                'towers-of-hanoi-seq-unseen-colors',
            ],
            'test': [
                'align-box-corner',
                'assembling-kits',
                'block-insertion',
                'manipulating-rope',
                'packing-boxes',
                'palletizing-boxes',
                'place-red-in-green',
                'stack-block-pyramid',
                'sweeping-piles',
                'towers-of-hanoi',
                'align-rope',
                'assembling-kits-seq-seen-colors',
                'assembling-kits-seq-unseen-colors',
                'packing-boxes-pairs-seen-colors',
                'packing-boxes-pairs-unseen-colors',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-unseen-google-objects-seq',
                'packing-seen-google-objects-group',
                'packing-unseen-google-objects-group',
                'put-block-in-bowl-seen-colors',
                'put-block-in-bowl-unseen-colors',
                'stack-block-pyramid-seq-seen-colors',
                'stack-block-pyramid-seq-unseen-colors',
                'separating-piles-seen-colors',
                'separating-piles-unseen-colors',
                'towers-of-hanoi-seq-seen-colors',
                'towers-of-hanoi-seq-unseen-colors',
            ],
        },

        # demo-conditioned tasks
        'multi-demo-conditioned': {
            'train': [
                'align-box-corner',
                'assembling-kits',
                'block-insertion',
                'manipulating-rope',
                'packing-boxes',
                'palletizing-boxes',
                'place-red-in-green',
                'stack-block-pyramid',
                'sweeping-piles',
                'towers-of-hanoi',
            ],
            'val': [
                'align-box-corner',
                'assembling-kits',
                'block-insertion',
                'manipulating-rope',
                'packing-boxes',
                'palletizing-boxes',
                'place-red-in-green',
                'stack-block-pyramid',
                'sweeping-piles',
                'towers-of-hanoi',
            ],
            'test': [
                'align-box-corner',
                'assembling-kits',
                'block-insertion',
                'manipulating-rope',
                'packing-boxes',
                'palletizing-boxes',
                'place-red-in-green',
                'stack-block-pyramid',
                'sweeping-piles',
                'towers-of-hanoi',
            ],
        },

        # goal-conditioned tasks
        'multi-language-conditioned': {
            'train': [
                'align-rope',
                'assembling-kits-seq-unseen-colors', # unseen here refers to training only seen splits to be consitent with single-task setting
                'packing-boxes-pairs-unseen-colors',
                'packing-shapes',
                'packing-unseen-google-objects-seq',
                'packing-unseen-google-objects-group',
                'put-block-in-bowl-unseen-colors',
                'stack-block-pyramid-seq-unseen-colors',
                'separating-piles-unseen-colors',
                'towers-of-hanoi-seq-unseen-colors',
            ],
            'val': [
                'align-rope',
                'assembling-kits-seq-seen-colors',
                'assembling-kits-seq-unseen-colors',
                'packing-boxes-pairs-seen-colors',
                'packing-boxes-pairs-unseen-colors',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-unseen-google-objects-seq',
                'packing-seen-google-objects-group',
                'packing-unseen-google-objects-group',
                'put-block-in-bowl-seen-colors',
                'put-block-in-bowl-unseen-colors',
                'stack-block-pyramid-seq-seen-colors',
                'stack-block-pyramid-seq-unseen-colors',
                'separating-piles-seen-colors',
                'separating-piles-unseen-colors',
                'towers-of-hanoi-seq-seen-colors',
                'towers-of-hanoi-seq-unseen-colors',
            ],
            'test': [
                'align-rope',
                'assembling-kits-seq-seen-colors',
                'assembling-kits-seq-unseen-colors',
                'packing-boxes-pairs-seen-colors',
                'packing-boxes-pairs-unseen-colors',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-unseen-google-objects-seq',
                'packing-seen-google-objects-group',
                'packing-unseen-google-objects-group',
                'put-block-in-bowl-seen-colors',
                'put-block-in-bowl-unseen-colors',
                'stack-block-pyramid-seq-seen-colors',
                'stack-block-pyramid-seq-unseen-colors',
                'separating-piles-seen-colors',
                'separating-piles-unseen-colors',
                'towers-of-hanoi-seq-seen-colors',
                'towers-of-hanoi-seq-unseen-colors',
            ],
        },


        ##### multi-attr tasks
        'multi-attr-align-rope': {
            'train': [
                'assembling-kits-seq-full',
                'packing-boxes-pairs-full',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-seen-google-objects-group',
                'put-block-in-bowl-full',
                'stack-block-pyramid-seq-full',
                'separating-piles-full',
                'towers-of-hanoi-seq-full',
            ],
            'val': [
                'align-rope',
            ],
            'test': [
                'align-rope',
            ],
            'attr_train_task': None,
        },

        'multi-attr-packing-shapes': {
            'train': [
                'align-rope',
                'assembling-kits-seq-full',
                'packing-boxes-pairs-full',
                'packing-seen-google-objects-seq',
                'packing-seen-google-objects-group',
                'put-block-in-bowl-full',
                'stack-block-pyramid-seq-full',
                'separating-piles-full',
                'towers-of-hanoi-seq-full',
            ],
            'val': [
                'packing-shapes',
            ],
            'test': [
                'packing-shapes',
            ],
            'attr_train_task': None,
        },

        'multi-attr-assembling-kits-seq-unseen-colors': {
            'train': [
                'align-rope',
                'assembling-kits-seq-seen-colors', # seen only
                'packing-boxes-pairs-full',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-seen-google-objects-group',
                'put-block-in-bowl-full',
                'stack-block-pyramid-seq-full',
                'separating-piles-full',
                'towers-of-hanoi-seq-full',
            ],
            'val': [
                'assembling-kits-seq-unseen-colors',
            ],
            'test': [
                'assembling-kits-seq-unseen-colors',
            ],
            'attr_train_task': 'assembling-kits-seq-seen-colors',
        },

        'multi-attr-packing-boxes-pairs-unseen-colors': {
            'train': [
                'align-rope',
                'assembling-kits-seq-full',
                'packing-boxes-pairs-seen-colors', # seen only
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-seen-google-objects-group',
                'put-block-in-bowl-full',
                'stack-block-pyramid-seq-full',
                'separating-piles-full',
                'towers-of-hanoi-seq-full',
            ],
            'val': [
                'packing-boxes-pairs-unseen-colors',
            ],
            'test': [
                'packing-boxes-pairs-unseen-colors',
            ],
            'attr_train_task': 'packing-boxes-pairs-seen-colors',
        },

        'multi-attr-packing-unseen-google-objects-seq': {
            'train': [
                'align-rope',
                'assembling-kits-seq-full',
                'packing-boxes-pairs-full',
                'packing-shapes',
                'packing-seen-google-objects-group',
                'put-block-in-bowl-full',
                'stack-block-pyramid-seq-full',
                'separating-piles-full',
                'towers-of-hanoi-seq-full',
            ],
            'val': [
                'packing-unseen-google-objects-seq',
            ],
            'test': [
                'packing-unseen-google-objects-seq',
            ],
            'attr_train_task': 'packing-seen-google-objects-group',
        },

        'multi-attr-packing-unseen-google-objects-group': {
            'train': [
                'align-rope',
                'assembling-kits-seq-full',
                'packing-boxes-pairs-full',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'put-block-in-bowl-full',
                'stack-block-pyramid-seq-full',
                'separating-piles-full',
                'towers-of-hanoi-seq-full',
            ],
            'val': [
                'packing-unseen-google-objects-group',
            ],
            'test': [
                'packing-unseen-google-objects-group',
            ],
            'attr_train_task': 'packing-seen-google-objects-seq',
        },

        'multi-attr-put-block-in-bowl-unseen-colors': {
            'train': [
                'align-rope',
                'assembling-kits-seq-full',
                'packing-boxes-pairs-full',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-seen-google-objects-group',
                'put-block-in-bowl-seen-colors', # seen only
                'stack-block-pyramid-seq-full',
                'separating-piles-full',
                'towers-of-hanoi-seq-full',
            ],
            'val': [
                'put-block-in-bowl-unseen-colors',
            ],
            'test': [
                'put-block-in-bowl-unseen-colors',
            ],
            'attr_train_task': 'put-block-in-bowl-seen-colors',
        },

        'multi-attr-stack-block-pyramid-seq-unseen-colors': {
            'train': [
                'align-rope',
                'assembling-kits-seq-full',
                'packing-boxes-pairs-full',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-seen-google-objects-group',
                'put-block-in-bowl-full',
                'stack-block-pyramid-seq-seen-colors', # seen only
                'separating-piles-full',
                'towers-of-hanoi-seq-full',
            ],
            'val': [
                'stack-block-pyramid-seq-unseen-colors',
            ],
            'test': [
                'stack-block-pyramid-seq-unseen-colors',
            ],
            'attr_train_task': 'stack-block-pyramid-seq-seen-colors',
        },

        'multi-attr-separating-piles-unseen-colors': {
            'train': [
                'align-rope',
                'assembling-kits-seq-full',
                'packing-boxes-pairs-full',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-seen-google-objects-group',
                'put-block-in-bowl-full',
                'stack-block-pyramid-seq-full',
                'separating-piles-seen-colors', # seen only
                'towers-of-hanoi-seq-full',
            ],
            'val': [
                'separating-piles-unseen-colors',
            ],
            'test': [
                'separating-piles-unseen-colors',
            ],
            'attr_train_task': 'separating-piles-seen-colors',
        },

        'multi-attr-towers-of-hanoi-seq-unseen-colors': {
            'train': [
                'align-rope',
                'assembling-kits-seq-full',
                'packing-boxes-pairs-full',
                'packing-shapes',
                'packing-seen-google-objects-seq',
                'packing-seen-google-objects-group',
                'put-block-in-bowl-full',
                'stack-block-pyramid-seq-full',
                'separating-piles-full',
                'towers-of-hanoi-seq-seen-colors', # seen only
            ],
            'val': [
                'towers-of-hanoi-seq-unseen-colors',
            ],
            'test': [
                'towers-of-hanoi-seq-unseen-colors',
            ],
            'attr_train_task': 'towers-of-hanoi-seq-seen-colors',
        },

    }
    
    
    
class RavenMultiTaskDatasetBalance(RavensMultiTaskDataset):
    def __init__(self, path, cfg, group='multi-all',
                 mode='train', n_demos=100, augment=False, balance_weight=0.1):
        """A multi-task dataset for balancing data."""
        self.root_path = path
        self.mode = mode
        if group not in self.MULTI_TASKS:
            # generate the groups on the fly
            self.tasks = group# .split(" ")
        else:
            self.tasks = self.MULTI_TASKS[group][mode]
        
        print("self.tasks:", self.tasks)
        self.attr_train_task = self.MULTI_TASKS[group]['attr_train_task'] if group in self.MULTI_TASKS and 'attr_train_task' in self.MULTI_TASKS[group] else None

        self.cfg = cfg
        self.sample_set = {}
        self.max_seed = -1
        self.n_episodes = 0
        self.images = self.cfg['dataset']['images']
        self.cache = self.cfg['dataset']['cache']
        self.n_demos = n_demos
        self.augment = augment

        self.aug_theta_sigma = self.cfg['dataset']['augment']['theta_sigma'] if 'augment' in self.cfg['dataset'] else 60  # legacy code issue: theta_sigma was newly added
        self.pix_size = 0.003125
        self.in_shape = (320, 160, 6)
        self.cam_config = cameras.RealSenseD415.CONFIG
        self.bounds = np.array([[0.25, 0.75], [-0.5, 0.5], [0, 0.28]])

        self.n_episodes = {}
        episodes = {}

        for task in self.tasks:
            task_path = os.path.join(self.root_path, f'{task}-{mode}')
            action_path = os.path.join(task_path, 'action')
            n_episodes = 0
            if os.path.exists(action_path):
                for fname in sorted(os.listdir(action_path)):
                    if '.pkl' in fname:
                        n_episodes += 1
            self.n_episodes[task] = n_episodes

            if n_episodes == 0:
                raise Exception(f"{task}-{mode} has 0 episodes. Remove it from the list in dataset.py")

            # Select random episode depending on the size of the dataset.
            if task in self.ORIGINAL_NAMES and self.mode == 'train':
                assert self.n_demos < 200 # otherwise, we need to change the code below
                episodes[task] = np.random.choice(range(n_episodes), min(int(self.n_demos*balance_weight), n_episodes), False)
            else:       
                episodes[task] = np.random.choice(range(n_episodes), min(self.n_demos, n_episodes), False)

        if self.n_demos > 0:
            self.images = self.cfg['dataset']['images']
            self.cache = False 
            self.set(episodes)

        self._path = None
        self._task = None
        
        
        
    ORIGINAL_NAMES = [
    # demo conditioned
    'align-box-corner',
    'assembling-kits',
    'assembling-kits-easy',
    'block-insertion',
    'block-insertion-easy',
    'block-insertion-nofixture',
    'block-insertion-sixdof',
    'block-insertion-translation',
    'manipulating-rope',
    'packing-boxes',
    'palletizing-boxes',
    'place-red-in-green',
    'stack-block-pyramid',
    'sweeping-piles',
    'towers-of-hanoi',
    'gen-task',
    # goal conditioned
    'align-rope',
    'assembling-kits-seq',
    'assembling-kits-seq-seen-colors',
    'assembling-kits-seq-unseen-colors',
    'assembling-kits-seq-full',
    'packing-shapes',
    'packing-boxes-pairs',
    'packing-boxes-pairs-seen-colors',
    'packing-boxes-pairs-unseen-colors',
    'packing-boxes-pairs-full',
    'packing-seen-google-objects-seq',
    'packing-unseen-google-objects-seq',
    'packing-seen-google-objects-group',
    'packing-unseen-google-objects-group',
    'put-block-in-bowl',
    'put-block-in-bowl-seen-colors',
    'put-block-in-bowl-unseen-colors',
    'put-block-in-bowl-full',
    'stack-block-pyramid-seq',
    'stack-block-pyramid-seq-seen-colors',
    'stack-block-pyramid-seq-unseen-colors',
    'stack-block-pyramid-seq-full',
    'separating-piles',
    'separating-piles-seen-colors',
    'separating-piles-unseen-colors',
    'separating-piles-full',
    'towers-of-hanoi-seq',
    'towers-of-hanoi-seq-seen-colors',
    'towers-of-hanoi-seq-unseen-colors',
    'towers-of-hanoi-seq-full',
    ]