#!/usr/bin/env python

# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import contextlib
import importlib.resources
import json
import logging
import shutil
import subprocess
import tempfile
from collections.abc import Iterator
from pathlib import Path
from pprint import pformat
from types import SimpleNamespace
from typing import Any

import datasets
import numpy as np
import packaging.version
import pandas
import pandas as pd
import pyarrow.parquet as pq
import torch
from datasets import Dataset, concatenate_datasets
from datasets.table import embed_table_storage
from huggingface_hub import DatasetCard, DatasetCardData, HfApi
from huggingface_hub.errors import RevisionNotFoundError
from PIL import Image as PILImage
from torchvision import transforms

from lerobot.common.datasets.backward_compatibility import (
    V21_MESSAGE,
    BackwardCompatibilityError,
    ForwardCompatibilityError,
)
from lerobot.common.robot_devices.robots.utils import Robot
from lerobot.common.utils.utils import is_valid_numpy_dtype_string
from lerobot.configs.types import FeatureType, PolicyFeature

DEFAULT_CHUNK_SIZE = 1000  # Max number of files per chunk
DEFAULT_DATA_FILE_SIZE_IN_MB = 100  # Max size per file
DEFAULT_VIDEO_FILE_SIZE_IN_MB = 500  # Max size per file

INFO_PATH = "meta/info.json"
STATS_PATH = "meta/stats.json"

EPISODES_DIR = "meta/episodes"
DATA_DIR = "data"
VIDEO_DIR = "videos"

CHUNK_FILE_PATTERN = "chunk-{chunk_index:03d}/file-{file_index:03d}"
DEFAULT_TASKS_PATH = "meta/tasks.parquet"
DEFAULT_EPISODES_PATH = EPISODES_DIR + "/" + CHUNK_FILE_PATTERN + ".parquet"
DEFAULT_DATA_PATH = DATA_DIR + "/" + CHUNK_FILE_PATTERN + ".parquet"
DEFAULT_VIDEO_PATH = VIDEO_DIR + "/{video_key}/" + CHUNK_FILE_PATTERN + ".mp4"
DEFAULT_IMAGE_PATH = "images/{image_key}/episode-{episode_index:06d}/frame-{frame_index:06d}.png"

DATASET_CARD_TEMPLATE = """
---
# Metadata will go there
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## {}

"""

DEFAULT_FEATURES = {
    "timestamp": {"dtype": "float32", "shape": (1,), "names": None},
    "frame_index": {"dtype": "int64", "shape": (1,), "names": None},
    "episode_index": {"dtype": "int64", "shape": (1,), "names": None},
    "index": {"dtype": "int64", "shape": (1,), "names": None},
    "task_index": {"dtype": "int64", "shape": (1,), "names": None},
}


def get_parquet_file_size_in_mb(parquet_path):
    metadata = pq.read_metadata(parquet_path)
    total_uncompressed_size = 0
    for row_group in range(metadata.num_row_groups):
        rg_metadata = metadata.row_group(row_group)
        for column in range(rg_metadata.num_columns):
            col_metadata = rg_metadata.column(column)
            total_uncompressed_size += col_metadata.total_uncompressed_size
    return total_uncompressed_size / (1024**2)


def get_hf_dataset_size_in_mb(hf_ds: Dataset) -> int:
    return hf_ds.data.nbytes / (1024**2)


def get_pd_dataframe_size_in_mb(df: pandas.DataFrame) -> int:
    # TODO(rcadene): unused?
    memory_usage_bytes = df.memory_usage(deep=True).sum()
    return memory_usage_bytes / (1024**2)


def update_chunk_file_indices(chunk_idx: int, file_idx: int, chunks_size: int):
    if file_idx == chunks_size - 1:
        file_idx = 0
        chunk_idx += 1
    else:
        file_idx += 1
    return chunk_idx, file_idx


def load_nested_dataset(pq_dir: Path) -> Dataset:
    """Find parquet files in provided directory {pq_dir}/chunk-xxx/file-xxx.parquet
    Convert parquet files to pyarrow memory mapped in a cache folder for efficient RAM usage
    Concatenate all pyarrow references to return HF Dataset format
    """
    paths = sorted(pq_dir.glob("*/*.parquet"))
    if len(paths) == 0:
        raise FileNotFoundError(f"Provided directory does not contain any parquet file: {pq_dir}")

    # TODO(rcadene): set num_proc to accelerate conversion to pyarrow
    datasets = [Dataset.from_parquet(str(path)) for path in paths]
    return concatenate_datasets(datasets)


def get_parquet_num_frames(parquet_path):
    metadata = pq.read_metadata(parquet_path)
    return metadata.num_rows


def get_video_size_in_mb(mp4_path: Path):
    file_size_bytes = mp4_path.stat().st_size
    file_size_mb = file_size_bytes / (1024**2)
    return file_size_mb


def concat_video_files(paths_to_cat: list[Path], root: Path, video_key: str, chunk_idx: int, file_idx: int):
    # TODO(rcadene): move to video_utils.py
    # TODO(rcadene): add docstring
    tmp_dir = Path(tempfile.mkdtemp(dir=root))
    # Create a text file with the list of files to concatenate
    path_concat_video_files = tmp_dir / "concat_video_files.txt"
    with open(path_concat_video_files, "w") as f:
        for ep_path in paths_to_cat:
            f.write(f"file '{str(ep_path)}'\n")

    path_tmp_output = tmp_dir / "tmp_output.mp4"
    command = [
        "ffmpeg",
        "-y",
        "-f",
        "concat",
        "-safe",
        "0",
        "-i",
        str(path_concat_video_files),
        "-c",
        "copy",
        str(path_tmp_output),
    ]
    subprocess.run(command, check=True)

    output_path = root / DEFAULT_VIDEO_PATH.format(
        video_key=video_key, chunk_index=chunk_idx, file_index=file_idx
    )
    output_path.parent.mkdir(parents=True, exist_ok=True)
    shutil.move(str(path_tmp_output), str(output_path))
    shutil.rmtree(str(tmp_dir))


def get_video_duration_in_s(mp4_file: Path):
    # TODO(rcadene): move to video_utils.py
    command = [
        "ffprobe",
        "-v",
        "error",
        "-show_entries",
        "format=duration",
        "-of",
        "default=noprint_wrappers=1:nokey=1",
        str(mp4_file),
    ]
    result = subprocess.run(
        command,
        stdout=subprocess.PIPE,
        stderr=subprocess.STDOUT,
    )
    return float(result.stdout)


def flatten_dict(d: dict, parent_key: str = "", sep: str = "/") -> dict:
    """Flatten a nested dictionary structure by collapsing nested keys into one key with a separator.

    For example:
    ```
    >>> dct = {"a": {"b": 1, "c": {"d": 2}}, "e": 3}`
    >>> print(flatten_dict(dct))
    {"a/b": 1, "a/c/d": 2, "e": 3}
    """
    items = []
    for k, v in d.items():
        new_key = f"{parent_key}{sep}{k}" if parent_key else k
        if isinstance(v, dict):
            items.extend(flatten_dict(v, new_key, sep=sep).items())
        else:
            items.append((new_key, v))
    return dict(items)


def unflatten_dict(d: dict, sep: str = "/") -> dict:
    outdict = {}
    for key, value in d.items():
        parts = key.split(sep)
        d = outdict
        for part in parts[:-1]:
            if part not in d:
                d[part] = {}
            d = d[part]
        d[parts[-1]] = value
    return outdict


def serialize_dict(stats: dict[str, torch.Tensor | np.ndarray | dict]) -> dict:
    serialized_dict = {}
    for key, value in flatten_dict(stats).items():
        if isinstance(value, (torch.Tensor, np.ndarray)):
            serialized_dict[key] = value.tolist()
        elif isinstance(value, list) and isinstance(value[0], (int, float, list)):
            serialized_dict[key] = value
        elif isinstance(value, np.generic):
            serialized_dict[key] = value.item()
        elif isinstance(value, (int, float)):
            serialized_dict[key] = value
        else:
            raise NotImplementedError(f"The value '{value}' of type '{type(value)}' is not supported.")
    return unflatten_dict(serialized_dict)


def embed_images(dataset: datasets.Dataset) -> datasets.Dataset:
    # Embed image bytes into the table before saving to parquet
    format = dataset.format
    dataset = dataset.with_format("arrow")
    dataset = dataset.map(embed_table_storage, batched=False)
    dataset = dataset.with_format(**format)
    return dataset


def load_json(fpath: Path) -> Any:
    with open(fpath) as f:
        return json.load(f)


def write_json(data: dict, fpath: Path) -> None:
    fpath.parent.mkdir(exist_ok=True, parents=True)
    with open(fpath, "w") as f:
        json.dump(data, f, indent=4, ensure_ascii=False)


def write_info(info: dict, local_dir: Path):
    write_json(info, local_dir / INFO_PATH)


def load_info(local_dir: Path) -> dict:
    info = load_json(local_dir / INFO_PATH)
    for ft in info["features"].values():
        ft["shape"] = tuple(ft["shape"])
    return info


def write_stats(stats: dict, local_dir: Path):
    serialized_stats = serialize_dict(stats)
    write_json(serialized_stats, local_dir / STATS_PATH)


def cast_stats_to_numpy(stats) -> dict[str, dict[str, np.ndarray]]:
    stats = {key: np.array(value) for key, value in flatten_dict(stats).items()}
    return unflatten_dict(stats)


def load_stats(local_dir: Path) -> dict[str, dict[str, np.ndarray]]:
    if not (local_dir / STATS_PATH).exists():
        return None
    stats = load_json(local_dir / STATS_PATH)
    return cast_stats_to_numpy(stats)


def write_hf_dataset(hf_dataset: Dataset, local_dir: Path):
    if get_hf_dataset_size_in_mb(hf_dataset) > DEFAULT_DATA_FILE_SIZE_IN_MB:
        raise NotImplementedError("Contact a maintainer.")

    path = local_dir / DEFAULT_DATA_PATH.format(chunk_index=0, file_index=0)
    path.parent.mkdir(parents=True, exist_ok=True)
    hf_dataset.to_parquet(path)


def write_tasks(tasks: pandas.DataFrame, local_dir: Path):
    path = local_dir / DEFAULT_TASKS_PATH
    path.parent.mkdir(parents=True, exist_ok=True)
    tasks.to_parquet(path)


def load_tasks(local_dir: Path):
    tasks = pd.read_parquet(local_dir / DEFAULT_TASKS_PATH)
    return tasks


def write_episodes(episodes: Dataset, local_dir: Path):
    if get_hf_dataset_size_in_mb(episodes) > DEFAULT_DATA_FILE_SIZE_IN_MB:
        raise NotImplementedError("Contact a maintainer.")

    fpath = local_dir / DEFAULT_EPISODES_PATH.format(chunk_index=0, file_index=0)
    fpath.parent.mkdir(parents=True, exist_ok=True)
    episodes.to_parquet(fpath)


def load_episodes(local_dir: Path) -> datasets.Dataset:
    episodes = load_nested_dataset(local_dir / EPISODES_DIR)
    # Select episode features/columns containing references to episode data and videos
    # (e.g. tasks, dataset_from_index, dataset_to_index, data/chunk_index, data/file_index, etc.)
    # This is to speedup access to these data, instead of having to load episode stats.
    episodes = episodes.select_columns([key for key in episodes.features if not key.startswith("stats/")])
    return episodes


def backward_compatible_episodes_stats(
    stats: dict[str, dict[str, np.ndarray]], episodes: list[int]
) -> dict[str, dict[str, np.ndarray]]:
    return dict.fromkeys(episodes, stats)


def load_image_as_numpy(
    fpath: str | Path, dtype: np.dtype = np.float32, channel_first: bool = True
) -> np.ndarray:
    img = PILImage.open(fpath).convert("RGB")
    img_array = np.array(img, dtype=dtype)
    if channel_first:  # (H, W, C) -> (C, H, W)
        img_array = np.transpose(img_array, (2, 0, 1))
    if np.issubdtype(dtype, np.floating):
        img_array /= 255.0
    return img_array


def hf_transform_to_torch(items_dict: dict[torch.Tensor | None]):
    """Get a transform function that convert items from Hugging Face dataset (pyarrow)
    to torch tensors. Importantly, images are converted from PIL, which corresponds to
    a channel last representation (h w c) of uint8 type, to a torch image representation
    with channel first (c h w) of float32 type in range [0,1].
    """
    for key in items_dict:
        first_item = items_dict[key][0]
        if isinstance(first_item, PILImage.Image):
            to_tensor = transforms.ToTensor()
            items_dict[key] = [to_tensor(img) for img in items_dict[key]]
        elif first_item is None:
            pass
        else:
            items_dict[key] = [x if isinstance(x, str) else torch.tensor(x) for x in items_dict[key]]
    return items_dict


def is_valid_version(version: str) -> bool:
    try:
        packaging.version.parse(version)
        return True
    except packaging.version.InvalidVersion:
        return False


def check_version_compatibility(
    repo_id: str,
    version_to_check: str | packaging.version.Version,
    current_version: str | packaging.version.Version,
    enforce_breaking_major: bool = True,
) -> None:
    v_check = (
        packaging.version.parse(version_to_check)
        if not isinstance(version_to_check, packaging.version.Version)
        else version_to_check
    )
    v_current = (
        packaging.version.parse(current_version)
        if not isinstance(current_version, packaging.version.Version)
        else current_version
    )
    if v_check.major < v_current.major and enforce_breaking_major:
        raise BackwardCompatibilityError(repo_id, v_check)
    elif v_check.minor < v_current.minor:
        logging.warning(V21_MESSAGE.format(repo_id=repo_id, version=v_check))


def get_repo_versions(repo_id: str) -> list[packaging.version.Version]:
    """Returns available valid versions (branches and tags) on given repo."""
    api = HfApi()
    repo_refs = api.list_repo_refs(repo_id, repo_type="dataset")
    repo_refs = [b.name for b in repo_refs.branches + repo_refs.tags]
    repo_versions = []
    for ref in repo_refs:
        with contextlib.suppress(packaging.version.InvalidVersion):
            repo_versions.append(packaging.version.parse(ref))

    return repo_versions


def get_safe_version(repo_id: str, version: str | packaging.version.Version) -> str:
    """
    Returns the version if available on repo or the latest compatible one.
    Otherwise, will throw a `CompatibilityError`.
    """
    target_version = (
        packaging.version.parse(version) if not isinstance(version, packaging.version.Version) else version
    )
    hub_versions = get_repo_versions(repo_id)

    if not hub_versions:
        raise RevisionNotFoundError(
            f"""Your dataset must be tagged with a codebase version.
            Assuming _version_ is the codebase_version value in the info.json, you can run this:
            ```python
            from huggingface_hub import HfApi

            hub_api = HfApi()
            hub_api.create_tag("{repo_id}", tag="_version_", repo_type="dataset")
            ```
            """
        )

    if target_version in hub_versions:
        return f"v{target_version}"

    compatibles = [
        v for v in hub_versions if v.major == target_version.major and v.minor <= target_version.minor
    ]
    if compatibles:
        return_version = max(compatibles)
        if return_version < target_version:
            logging.warning(f"Revision {version} for {repo_id} not found, using version v{return_version}")
        return f"v{return_version}"

    lower_major = [v for v in hub_versions if v.major < target_version.major]
    if lower_major:
        raise BackwardCompatibilityError(repo_id, max(lower_major))

    upper_versions = [v for v in hub_versions if v > target_version]
    assert len(upper_versions) > 0
    raise ForwardCompatibilityError(repo_id, min(upper_versions))


def get_hf_features_from_features(features: dict) -> datasets.Features:
    hf_features = {}
    for key, ft in features.items():
        if ft["dtype"] == "video":
            continue
        elif ft["dtype"] == "image":
            hf_features[key] = datasets.Image()
        elif ft["shape"] == (1,):
            hf_features[key] = datasets.Value(dtype=ft["dtype"])
        elif len(ft["shape"]) == 1:
            hf_features[key] = datasets.Sequence(
                length=ft["shape"][0], feature=datasets.Value(dtype=ft["dtype"])
            )
        elif len(ft["shape"]) == 2:
            hf_features[key] = datasets.Array2D(shape=ft["shape"], dtype=ft["dtype"])
        elif len(ft["shape"]) == 3:
            hf_features[key] = datasets.Array3D(shape=ft["shape"], dtype=ft["dtype"])
        elif len(ft["shape"]) == 4:
            hf_features[key] = datasets.Array4D(shape=ft["shape"], dtype=ft["dtype"])
        elif len(ft["shape"]) == 5:
            hf_features[key] = datasets.Array5D(shape=ft["shape"], dtype=ft["dtype"])
        else:
            raise ValueError(f"Corresponding feature is not valid: {ft}")

    return datasets.Features(hf_features)


def get_features_from_robot(robot: Robot, use_videos: bool = True) -> dict:
    # TODO(rcadene): add fps for each feature
    camera_ft = {}
    if robot.cameras:
        camera_ft = {
            key: {"dtype": "video" if use_videos else "image", **ft}
            for key, ft in robot.camera_features.items()
        }
    return {**robot.motor_features, **camera_ft, **DEFAULT_FEATURES}


def dataset_to_policy_features(features: dict[str, dict]) -> dict[str, PolicyFeature]:
    # TODO(aliberts): Implement "type" in dataset features and simplify this
    policy_features = {}
    for key, ft in features.items():
        shape = ft["shape"]
        if ft["dtype"] in ["image", "video"]:
            type = FeatureType.VISUAL
            if len(shape) != 3:
                raise ValueError(f"Number of dimensions of {key} != 3 (shape={shape})")

            names = ft["names"]
            # Backward compatibility for "channel" which is an error introduced in LeRobotDataset v2.0 for ported datasets.
            if names[2] in ["channel", "channels"]:  # (h, w, c) -> (c, h, w)
                shape = (shape[2], shape[0], shape[1])
        elif key == "observation.environment_state":
            type = FeatureType.ENV
        elif key.startswith("observation"):
            type = FeatureType.STATE
        elif key == "action":
            type = FeatureType.ACTION
        else:
            continue

        policy_features[key] = PolicyFeature(
            type=type,
            shape=shape,
        )

    return policy_features


def create_empty_dataset_info(
    codebase_version: str,
    fps: int,
    robot_type: str,
    features: dict,
    use_videos: bool,
) -> dict:
    return {
        "codebase_version": codebase_version,
        "robot_type": robot_type,
        "total_episodes": 0,
        "total_frames": 0,
        "total_tasks": 0,
        "chunks_size": DEFAULT_CHUNK_SIZE,
        "data_files_size_in_mb": DEFAULT_DATA_FILE_SIZE_IN_MB,
        "video_files_size_in_mb": DEFAULT_VIDEO_FILE_SIZE_IN_MB,
        "fps": fps,
        "splits": {},
        "data_path": DEFAULT_DATA_PATH,
        "video_path": DEFAULT_VIDEO_PATH if use_videos else None,
        "features": features,
    }


def check_timestamps_sync(
    timestamps: np.ndarray,
    episode_indices: np.ndarray,
    episode_data_index: dict[str, np.ndarray],
    fps: int,
    tolerance_s: float,
    raise_value_error: bool = True,
) -> bool:
    """
    This check is to make sure that each timestamp is separated from the next by (1/fps) +/- tolerance
    to account for possible numerical error.

    Args:
        timestamps (np.ndarray): Array of timestamps in seconds.
        episode_indices (np.ndarray): Array indicating the episode index for each timestamp.
        episode_data_index (dict[str, np.ndarray]): A dictionary that includes 'to',
            which identifies indices for the end of each episode.
        fps (int): Frames per second. Used to check the expected difference between consecutive timestamps.
        tolerance_s (float): Allowed deviation from the expected (1/fps) difference.
        raise_value_error (bool): Whether to raise a ValueError if the check fails.

    Returns:
        bool: True if all checked timestamp differences lie within tolerance, False otherwise.

    Raises:
        ValueError: If the check fails and `raise_value_error` is True.
    """
    if timestamps.shape != episode_indices.shape:
        raise ValueError(
            "timestamps and episode_indices should have the same shape. "
            f"Found {timestamps.shape=} and {episode_indices.shape=}."
        )

    # Consecutive differences
    diffs = np.diff(timestamps)
    within_tolerance = np.abs(diffs - (1.0 / fps)) <= tolerance_s

    # Mask to ignore differences at the boundaries between episodes
    mask = np.ones(len(diffs), dtype=bool)
    ignored_diffs = episode_data_index["to"][:-1] - 1  # indices at the end of each episode
    mask[ignored_diffs] = False
    filtered_within_tolerance = within_tolerance[mask]

    # Check if all remaining diffs are within tolerance
    if not np.all(filtered_within_tolerance):
        # Track original indices before masking
        original_indices = np.arange(len(diffs))
        filtered_indices = original_indices[mask]
        outside_tolerance_filtered_indices = np.nonzero(~filtered_within_tolerance)[0]
        outside_tolerance_indices = filtered_indices[outside_tolerance_filtered_indices]

        outside_tolerances = []
        for idx in outside_tolerance_indices:
            entry = {
                "timestamps": [timestamps[idx], timestamps[idx + 1]],
                "diff": diffs[idx],
                "episode_index": episode_indices[idx].item()
                if hasattr(episode_indices[idx], "item")
                else episode_indices[idx],
            }
            outside_tolerances.append(entry)

        if raise_value_error:
            raise ValueError(
                f"""One or several timestamps unexpectedly violate the tolerance inside episode range.
                This might be due to synchronization issues during data collection.
                \n{pformat(outside_tolerances)}"""
            )
        return False

    return True


def check_delta_timestamps(
    delta_timestamps: dict[str, list[float]], fps: int, tolerance_s: float, raise_value_error: bool = True
) -> bool:
    """This will check if all the values in delta_timestamps are multiples of 1/fps +/- tolerance.
    This is to ensure that these delta_timestamps added to any timestamp from a dataset will themselves be
    actual timestamps from the dataset.
    """
    outside_tolerance = {}
    for key, delta_ts in delta_timestamps.items():
        within_tolerance = [abs(ts * fps - round(ts * fps)) / fps <= tolerance_s for ts in delta_ts]
        if not all(within_tolerance):
            outside_tolerance[key] = [
                ts for ts, is_within in zip(delta_ts, within_tolerance, strict=True) if not is_within
            ]

    if len(outside_tolerance) > 0:
        if raise_value_error:
            raise ValueError(
                f"""
                The following delta_timestamps are found outside of tolerance range.
                Please make sure they are multiples of 1/{fps} +/- tolerance and adjust
                their values accordingly.
                \n{pformat(outside_tolerance)}
                """
            )
        return False

    return True


def get_delta_indices(delta_timestamps: dict[str, list[float]], fps: int) -> dict[str, list[int]]:
    delta_indices = {}
    for key, delta_ts in delta_timestamps.items():
        delta_indices[key] = [round(d * fps) for d in delta_ts]

    return delta_indices


def cycle(iterable):
    """The equivalent of itertools.cycle, but safe for Pytorch dataloaders.

    See https://github.com/pytorch/pytorch/issues/23900 for information on why itertools.cycle is not safe.
    """
    iterator = iter(iterable)
    while True:
        try:
            yield next(iterator)
        except StopIteration:
            iterator = iter(iterable)


def create_branch(repo_id, *, branch: str, repo_type: str | None = None) -> None:
    """Create a branch on a existing Hugging Face repo. Delete the branch if it already
    exists before creating it.
    """
    api = HfApi()

    branches = api.list_repo_refs(repo_id, repo_type=repo_type).branches
    refs = [branch.ref for branch in branches]
    ref = f"refs/heads/{branch}"
    if ref in refs:
        api.delete_branch(repo_id, repo_type=repo_type, branch=branch)

    api.create_branch(repo_id, repo_type=repo_type, branch=branch)


def create_lerobot_dataset_card(
    tags: list | None = None,
    dataset_info: dict | None = None,
    **kwargs,
) -> DatasetCard:
    """
    Keyword arguments will be used to replace values in ./lerobot/common/datasets/card_template.md.
    Note: If specified, license must be one of https://huggingface.co/docs/hub/repositories-licenses.
    """
    card_tags = ["LeRobot"]

    if tags:
        card_tags += tags
    if dataset_info:
        dataset_structure = "[meta/info.json](meta/info.json):\n"
        dataset_structure += f"```json\n{json.dumps(dataset_info, indent=4)}\n```\n"
        kwargs = {**kwargs, "dataset_structure": dataset_structure}
    card_data = DatasetCardData(
        license=kwargs.get("license"),
        tags=card_tags,
        task_categories=["robotics"],
        configs=[
            {
                "config_name": "default",
                "data_files": "data/*/*.parquet",
            }
        ],
    )

    card_template = (importlib.resources.files("lerobot.common.datasets") / "card_template.md").read_text()

    return DatasetCard.from_template(
        card_data=card_data,
        template_str=card_template,
        **kwargs,
    )


class IterableNamespace(SimpleNamespace):
    """
    A namespace object that supports both dictionary-like iteration and dot notation access.
    Automatically converts nested dictionaries into IterableNamespaces.

    This class extends SimpleNamespace to provide:
    - Dictionary-style iteration over keys
    - Access to items via both dot notation (obj.key) and brackets (obj["key"])
    - Dictionary-like methods: items(), keys(), values()
    - Recursive conversion of nested dictionaries

    Args:
        dictionary: Optional dictionary to initialize the namespace
        **kwargs: Additional keyword arguments passed to SimpleNamespace

    Examples:
        >>> data = {"name": "Alice", "details": {"age": 25}}
        >>> ns = IterableNamespace(data)
        >>> ns.name
        'Alice'
        >>> ns.details.age
        25
        >>> list(ns.keys())
        ['name', 'details']
        >>> for key, value in ns.items():
        ...     print(f"{key}: {value}")
        name: Alice
        details: IterableNamespace(age=25)
    """

    def __init__(self, dictionary: dict[str, Any] = None, **kwargs):
        super().__init__(**kwargs)
        if dictionary is not None:
            for key, value in dictionary.items():
                if isinstance(value, dict):
                    setattr(self, key, IterableNamespace(value))
                else:
                    setattr(self, key, value)

    def __iter__(self) -> Iterator[str]:
        return iter(vars(self))

    def __getitem__(self, key: str) -> Any:
        return vars(self)[key]

    def items(self):
        return vars(self).items()

    def values(self):
        return vars(self).values()

    def keys(self):
        return vars(self).keys()


def validate_frame(frame: dict, features: dict):
    optional_features = {"timestamp"}
    expected_features = (set(features) - set(DEFAULT_FEATURES.keys())) | {"task"}
    actual_features = set(frame.keys())

    error_message = validate_features_presence(actual_features, expected_features, optional_features)

    if "task" in frame:
        error_message += validate_feature_string("task", frame["task"])

    common_features = actual_features & (expected_features | optional_features)
    for name in common_features - {"task"}:
        error_message += validate_feature_dtype_and_shape(name, features[name], frame[name])

    if error_message:
        raise ValueError(error_message)


def validate_features_presence(
    actual_features: set[str], expected_features: set[str], optional_features: set[str]
):
    error_message = ""
    missing_features = expected_features - actual_features
    extra_features = actual_features - (expected_features | optional_features)

    if missing_features or extra_features:
        error_message += "Feature mismatch in `frame` dictionary:\n"
        if missing_features:
            error_message += f"Missing features: {missing_features}\n"
        if extra_features:
            error_message += f"Extra features: {extra_features}\n"

    return error_message


def validate_feature_dtype_and_shape(name: str, feature: dict, value: np.ndarray | PILImage.Image | str):
    expected_dtype = feature["dtype"]
    expected_shape = feature["shape"]
    if is_valid_numpy_dtype_string(expected_dtype):
        return validate_feature_numpy_array(name, expected_dtype, expected_shape, value)
    elif expected_dtype in ["image", "video"]:
        return validate_feature_image_or_video(name, expected_shape, value)
    elif expected_dtype == "string":
        return validate_feature_string(name, value)
    else:
        raise NotImplementedError(f"The feature dtype '{expected_dtype}' is not implemented yet.")


def validate_feature_numpy_array(
    name: str, expected_dtype: str, expected_shape: list[int], value: np.ndarray
):
    error_message = ""
    if isinstance(value, np.ndarray):
        actual_dtype = value.dtype
        actual_shape = value.shape

        if actual_dtype != np.dtype(expected_dtype):
            error_message += f"The feature '{name}' of dtype '{actual_dtype}' is not of the expected dtype '{expected_dtype}'.\n"

        if actual_shape != expected_shape:
            error_message += f"The feature '{name}' of shape '{actual_shape}' does not have the expected shape '{expected_shape}'.\n"
    else:
        error_message += f"The feature '{name}' is not a 'np.ndarray'. Expected type is '{expected_dtype}', but type '{type(value)}' provided instead.\n"

    return error_message


def validate_feature_image_or_video(name: str, expected_shape: list[str], value: np.ndarray | PILImage.Image):
    # Note: The check of pixels range ([0,1] for float and [0,255] for uint8) is done by the image writer threads.
    error_message = ""
    if isinstance(value, np.ndarray):
        actual_shape = value.shape
        c, h, w = expected_shape
        if len(actual_shape) != 3 or (actual_shape != (c, h, w) and actual_shape != (h, w, c)):
            error_message += f"The feature '{name}' of shape '{actual_shape}' does not have the expected shape '{(c, h, w)}' or '{(h, w, c)}'.\n"
    elif isinstance(value, PILImage.Image):
        pass
    else:
        error_message += f"The feature '{name}' is expected to be of type 'PIL.Image' or 'np.ndarray' channel first or channel last, but type '{type(value)}' provided instead.\n"

    return error_message


def validate_feature_string(name: str, value: str):
    if not isinstance(value, str):
        return f"The feature '{name}' is expected to be of type 'str', but type '{type(value)}' provided instead.\n"
    return ""


def validate_episode_buffer(episode_buffer: dict, total_episodes: int, features: dict):
    if "size" not in episode_buffer:
        raise ValueError("size key not found in episode_buffer")

    if "task" not in episode_buffer:
        raise ValueError("task key not found in episode_buffer")

    if episode_buffer["episode_index"] != total_episodes:
        # TODO(aliberts): Add option to use existing episode_index
        raise NotImplementedError(
            "You might have manually provided the episode_buffer with an episode_index that doesn't "
            "match the total number of episodes already in the dataset. This is not supported for now."
        )

    if episode_buffer["size"] == 0:
        raise ValueError("You must add one or several frames with `add_frame` before calling `add_episode`.")

    buffer_keys = set(episode_buffer.keys()) - {"task", "size"}
    if not buffer_keys == set(features):
        raise ValueError(
            f"Features from `episode_buffer` don't match the ones in `features`."
            f"In episode_buffer not in features: {buffer_keys - set(features)}"
            f"In features not in episode_buffer: {set(features) - buffer_keys}"
        )