"""Batch pose silhouettes from 25-frame state (reason-aligned)."""

import json
import sys
import time
from pathlib import Path

import numpy as np

sys.path.insert(0, "/project/llmsvgen/sunkai/robomaster_3d/CoAF/tools/FK+USDR")
from coaf_pose_renderer import CoAFPoseRenderer

DATASET_ROOT = Path("/project/llmsvgen/sunkai/robomaster_3d/Casual_CoAF/coaf_dataset_24_25")
RAW_ROOT = DATASET_ROOT / "raw"
OUTPUT_ROOT = DATASET_ROOT / "modalities" / "pose"
URDF_PATH = "/project/llmsvgen/sunkai/robomaster_3d/CoAF/assets/wx250s/wx250s.urdf"
REASON_FRAMES = 25


def main():
    renderer = CoAFPoseRenderer(urdf_path=URDF_PATH)
    episodes = sorted(RAW_ROOT.glob("episode_*"))
    start_time = time.time()
    processed = 0
    failed = []

    for ep_dir in episodes:
        ep_name = ep_dir.name
        out_dir = OUTPUT_ROOT / ep_name
        if (out_dir / "silhouette_silhouette.mp4").exists():
            processed += 1
            continue

        state_path = ep_dir / "state" / "state.npy"
        if not state_path.exists():
            failed.append({"episode": ep_name, "error": "state.npy not found"})
            continue

        try:
            state = np.load(str(state_path))
            if state.shape[0] != REASON_FRAMES:
                raise ValueError(f"expected ({REASON_FRAMES}, 7), got {state.shape}")
            joint_seq = renderer.solve_ik(state)
            out_dir.mkdir(parents=True, exist_ok=True)
            renderer.render_silhouette(joint_seq, state, output_dir=str(out_dir), prefix="silhouette")
            processed += 1
            if processed % 200 == 0:
                elapsed = time.time() - start_time
                print(f"  [{processed}/{len(episodes)}] {elapsed:.0f}s")
        except Exception as e:
            failed.append({"episode": ep_name, "error": str(e)})

    print(f"\nDone! {processed}/{len(episodes)}, {len(failed)} failed")
    if failed:
        (OUTPUT_ROOT / "pose_failures.json").write_text(json.dumps(failed, indent=2) + "\n")


if __name__ == "__main__":
    main()