DATASET_MIXTURES = {
    "oxe_magic_soup": [
        ("fractal20220817_data_lerobot", 1.0),                # Google RT-1 Robot Data Large-Scale)
        ("kuka_lerobot", 0.8341046294),
        ("bridge_orig_lerobot", 1.0),                                   # Original Version of Bridge V2 from Project Website
        ("taco_play_lerobot", 2.0),
        ("jaco_play_lerobot", 1.0),
        ("berkeley_cable_routing_lerobot", 1.0),
        ("roboturk_lerobot", 2.0), 
        ("viola_lerobot", 2.0),
        ("berkeley_autolab_ur5_lerobot", 2.0),
        ("toto_lerobot", 1.0),
        ("stanford_hydra_dataset_lerobot", 2.0),
        ("austin_buds_dataset_lerobot", 1.0),
        ("nyu_franka_play_dataset_lerobot", 3.0),
        ("furniture_bench_dataset_lerobot", 0.1),
        ("ucsd_kitchen_dataset_lerobot", 2.0),
        ("austin_sailor_dataset_lerobot", 1.0),
        ("austin_sirius_dataset_lerobot", 1.0),
        ("dlr_edan_shared_control_lerobot", 1.0),
        ("iamlab_cmu_pickup_insert_lerobot", 1.0),
        ("utaustin_mutex_lerobot", 1.0),
        ("berkeley_fanuc_manipulation_lerobot", 2.0),
        ("cmu_stretch_lerobot", 1.0),
        ("bc_z_lerobot", 0.2),                                          # Note: use v0.1.0 --> later versions broken
        ("fmb_dataset_lerobot", 1.0),
        ("dobbe_lerobot", 0.2),
    ],
    
    # "oxe_magic_soup_plus": [
    #     ("fractal20220817_data_lerobot", 0.54087122203),                # Google RT-1 Robot Data Large-Scale)
    #     ("kuka_lerobot", 0.8341046294),
    #     ("bridge_orig_lerobot", 1.0),                                   # Original Version of Bridge V2 from Project Website
    #     ("taco_play_lerobot", 2.0),
    #     ("jaco_play_lerobot", 1.0),
    #     ("berkeley_cable_routing_lerobot", 1.0),
    #     ("roboturk_lerobot", 2.0), 
    #     ("viola_lerobot", 2.0),
    #     ("berkeley_autolab_ur5_lerobot", 2.0),
    #     ("toto_lerobot", 1.0),
    #     ("language_table_lerobot", 0.1),
    #     ("stanford_hydra_dataset_lerobot", 2.0),
    #     ("austin_buds_dataset_lerobot", 1.0),
    #     ("nyu_franka_play_dataset_lerobot", 3.0),
    #     ("furniture_bench_dataset_lerobot", 0.1),
    #     ("ucsd_kitchen_dataset_lerobot", 2.0),
    #     ("austin_sailor_dataset_lerobot", 1.0),
    #     ("austin_sirius_dataset_lerobot", 1.0),
    #     ("dlr_edan_shared_control_lerobot", 1.0),
    #     ("iamlab_cmu_pickup_insert_lerobot", 1.0),
    #     ("utaustin_mutex_lerobot", 1.0),
    #     ("berkeley_fanuc_manipulation_lerobot", 2.0),
    #     ("cmu_stretch_lerobot", 1.0),
    #     ("bc_z_lerobot", 0.2),                                          # Note: use v0.1.0 --> later versions broken
    #     ("fmb_dataset_lerobot", 1.0),
    #     ("dobbe_lerobot", 0.2),
    #     ("droid_lerobot", 0.06),
    # ],
    # "oxe_magic_soup_add_other": [
    #     ("fractal20220817_data_lerobot", 0.54087122203),                # Google RT-1 Robot Data Large-Scale)
    #     ("kuka_lerobot", 0.8341046294),
    #     ("bridge_orig_lerobot", 1.0),                                   # Original Version of Bridge V2 from Project Website
    #     ("taco_play_lerobot", 2.0),
    #     ("jaco_play_lerobot", 1.0),
    #     ("berkeley_cable_routing_lerobot", 1.0),
    #     ("roboturk_lerobot", 2.0), 
    #     ("viola_lerobot", 2.0),
    #     ("berkeley_autolab_ur5_lerobot", 2.0),
    #     ("toto_lerobot", 1.0),
    #     ("language_table_lerobot", 0.1),
    #     ("stanford_hydra_dataset_lerobot", 2.0),
    #     ("austin_buds_dataset_lerobot", 1.0),
    #     ("nyu_franka_play_dataset_lerobot", 3.0),
    #     ("furniture_bench_dataset_lerobot", 0.1),
    #     ("ucsd_kitchen_dataset_lerobot", 2.0),
    #     ("austin_sailor_dataset_lerobot", 1.0),
    #     ("austin_sirius_dataset_lerobot", 1.0),
    #     ("dlr_edan_shared_control_lerobot", 1.0),
    #     ("iamlab_cmu_pickup_insert_lerobot", 1.0),
    #     ("utaustin_mutex_lerobot", 1.0),
    #     ("berkeley_fanuc_manipulation_lerobot", 2.0),
    #     ("cmu_stretch_lerobot", 1.0),
    #     ("bc_z_lerobot", 0.2),                                          # Note: use v0.1.0 --> later versions broken
    #     ("fmb_dataset_lerobot", 1.0),
    #     ("dobbe_lerobot", 0.2),
    #     ("droid_lerobot", 0.06),
    #     ## new
    #     # ("berkeley_mvp_lerobot", 1.0), action joint state eef
    #     # ("berkeley_rpt_lerobot", 1.0), action joint state eef
    #     ("cmu_play_fusion_lerobot", 1.0), # action eef state joint 
    # ],

    # aloha
    "aloha_open_source": [
        ("aloha_mobile_chair", 1.0),
        ("aloha_mobile_elevator", 1.0),
        ("aloha_mobile_shrimp", 1.0),
        ("aloha_mobile_wash_pan", 1.0),
        ("aloha_mobile_wipe_wine", 1.0),
        ("aloha_static_candy", 1.0),
        ("aloha_static_coffee_new", 1.0),
        ("aloha_static_cups_open", 1.0),
        ("aloha_static_pingpong_test", 1.0),
        ("aloha_static_pro_pencil", 1.0),
        ("aloha_static_screw_driver", 1.0),
        ("aloha_static_tape", 1.0),
        ("aloha_static_towel", 1.0),
        ("aloha_static_vinh_cup", 1.0),
        ("aloha_static_ziploc_slide", 1.0),
        ("aloha_pen_uncap_diverse", 1.0),
        ("aloha_mobile_rdt", 1.0),
        ("aloha_static_rdt", 1.0),
    ],

    "calvin_abc_eef_d_joint": [
        ("calvin_d_joint", 1.0),
        ("calvin_abc_eef", 1.0),
    ],
    "calvin_d_joint": [
        ("calvin_d_joint", 1.0),
        ("calvin_d_joint", 1.0),
    ],
    "calvin_d_eef": [
        ("calvin_d_eef", 1.0),
        ("calvin_d_eef", 1.0),
    ],
    "calvin_joint": [
        ("calvin_joint", 1.0),
        ("calvin_joint", 1.0),
    ],
    "calvin_eef": [
        ("calvin_eef", 1.0),
        ("calvin_eef", 1.0),
    ],
    "calvin_abc_eef_d_joint_test": [
        ("calvin_d_joint_test", 1.0),
        ("calvin_abc_eef_test", 1.0),
    ],
    "libero": [
        ("libero", 1.0),
        ("libero", 1.0),
    ],
    "libero_test": [
        ("libero_test", 1.0),
        ("libero_test", 1.0),
    ],

    # aloha sim
    "aloha_insertion":[
        ("aloha_sim_insertion_human", 1.0),
        ("aloha_sim_insertion_human", 1.0),
    ],
    "aloha_insertion_test":[
        ("aloha_insertion_test", 1.0),
        ("aloha_insertion_test", 1.0),
    ],

    "aloha_transfer_cube":[
        ("aloha_sim_transfer_cube_human", 1.0),
        ("aloha_sim_transfer_cube_human", 1.0),
    ],
    "aloha_transfer_cube_test":[
        ("aloha_transfer_cube_test", 1.0),
        ("aloha_transfer_cube_test", 1.0),
    ],

    # calvin_libero_aloha_sim
    "calvin_libero_aloha_sim":[
        # ("calvin_eef", 1.0),
        ("calvin_joint", 1.0),
        ("libero", 5.0),
        ("aloha_sim_transfer_cube_human", 30.0),
        ("aloha_sim_insertion_human", 30.0),
    ],

    # libero
    "libero_10":[
        ("libero_10_no_noops_lerobot", 1.0),
        ("libero_10_no_noops_lerobot", 1.0),
    ],
    "libero_goal":[
        ("libero_goal_no_noops_lerobot", 1.0),
        ("libero_goal_no_noops_lerobot", 1.0),
    ],
    "libero_object":[
        ("libero_object_no_noops_lerobot", 1.0),
        ("libero_object_no_noops_lerobot", 1.0),
    ],
    "libero_spatial":[
        ("libero_spatial_no_noops_lerobot", 1.0),
        ("libero_spatial_no_noops_lerobot", 1.0),
    ],

    # aloha_moevla
    "aloha_moevla":[
        ("aloha_moevla", 1.0),
        ("aloha_moevla", 1.0),
    ],
}