#!/usr/bin/env bash
set -euo pipefail

ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
PYTHON="${PYTHON:-/home/ubuntu/envs/genmanip-isaac5-py311/bin/python}"
ISAACLAB_SITE="/home/ubuntu/envs/genmanip-isaac5-py311/lib/python3.11/site-packages/isaaclab/source"

export OMNI_KIT_ACCEPT_EULA=YES
export PYTHONUNBUFFERED=1
export CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-0}"
export PYTHONPATH="${ISAACLAB_SITE}/isaaclab:${ISAACLAB_SITE}/isaaclab_tasks:${ISAACLAB_SITE}/isaaclab_assets:${ISAACLAB_SITE}/isaaclab_rl:${ISAACLAB_SITE}/isaaclab_mimic:${ROOT_DIR}/source/atec_rl_lab:${ROOT_DIR}/scripts/act:${PYTHONPATH:-}"

cd "$ROOT_DIR"

DATA_DIR="${DATA_DIR:-datasets/atec_task_e}"
NUM_DEMOS="${NUM_DEMOS:-100}"
PICK_OBJECTS="${PICK_OBJECTS:-3 2 1}"
read -r -a PICK_OBJECTS_ARGS <<< "$PICK_OBJECTS"
MAX_ATTEMPTS="${MAX_ATTEMPTS:-0}"
TOTAL_ITERS="${TOTAL_ITERS:-100000}"
BATCH_SIZE="${BATCH_SIZE:-512}"
SEED="${SEED:-1}"
LOG_FREQ="${LOG_FREQ:-100}"
SAVE_FREQ="${SAVE_FREQ:-5000}"
RUN_NAME="${RUN_NAME:-act-task-e-rgb-${NUM_DEMOS}demos-seed${SEED}}"
RESUME_CHECKPOINT="${RESUME_CHECKPOINT:-}"
RESUME_ITER="${RESUME_ITER:-}"

RAW_DATA="${DATA_DIR}/trajectory.hdf5"
FILTERED_DATA="${DATA_DIR}/trajectory_filtered.hdf5"

mkdir -p "$DATA_DIR" logs

echo "[ATEC Task E] root: $ROOT_DIR"
echo "[ATEC Task E] python: $PYTHON"
echo "[ATEC Task E] data: $DATA_DIR"
echo "[ATEC Task E] demos: $NUM_DEMOS, pick_objects: ${PICK_OBJECTS_ARGS[*]}, batch: $BATCH_SIZE, iters: $TOTAL_ITERS"

if [[ ! -f "$RAW_DATA" ]]; then
    "$PYTHON" -u scripts/act/collect_demos_task_e.py \
    --pick_objects "${PICK_OBJECTS_ARGS[@]}" \
    --num_demos "$NUM_DEMOS" \
    --headless \
    --enable_cameras \
    --save_images \
    --only_success \
    --trace \
    --abort_failed_lift \
    --max_attempts "$MAX_ATTEMPTS" \
    --output_dir "$DATA_DIR"
else
  echo "[ATEC Task E] Found $RAW_DATA, skip collection."
fi

if [[ ! -f "$FILTERED_DATA" ]]; then
  "$PYTHON" -u scripts/act/filter_demos.py \
    --input "$RAW_DATA" \
    --output "$FILTERED_DATA" \
    --threshold 0.001
else
  echo "[ATEC Task E] Found $FILTERED_DATA, skip filtering."
fi

TRAIN_ARGS=(
  --demo_path "$FILTERED_DATA"
  --num_demos "$NUM_DEMOS"
  --include_rgb
  --total_iters "$TOTAL_ITERS"
  --batch_size "$BATCH_SIZE"
  --log_freq "$LOG_FREQ"
  --save_freq "$SAVE_FREQ"
  --seed "$SEED"
  --exp_name "$RUN_NAME"
)

if [[ -n "$RESUME_CHECKPOINT" ]]; then
  TRAIN_ARGS+=(--resume_checkpoint "$RESUME_CHECKPOINT")
fi
if [[ -n "$RESUME_ITER" ]]; then
  TRAIN_ARGS+=(--resume_iter "$RESUME_ITER")
fi

"$PYTHON" -u scripts/act/train_task_e.py "${TRAIN_ARGS[@]}"