"""CLI argument definitions for Task E demo collection.
"""


def add_collect_demo_args(parser) -> None:
    parser.add_argument(
        "--num_demos", type=int, default=50,
        help="Number of successful demos to collect.",
    )
    parser.add_argument(
        "--output_dir", type=str, default="./datasets/atec_task_e",
        help="Directory to save trajectory.hdf5 and trajectory.json.",
    )
    parser.add_argument(
        "--pick_objects", type=int, nargs="+", default=[3, 2, 1],
        metavar="N",
        help="Which objects to pick, in execution order. Default clears near-to-far: 3 2 1.",
    )
    parser.add_argument(
        "--save_video", action="store_true", default=False,
        help="Save an MP4 per demo for visualization "
             "(requires: pip install imageio imageio-ffmpeg).",
    )
    parser.add_argument(
        "--video_dir", type=str, default=None,
        help="Output directory for MP4 files. Defaults to <output_dir>/videos/.",
    )
    parser.add_argument(
        "--save_images", action="store_true", default=False,
        help="Save raw RGB frames into HDF5 under traj_N/images/rgb (T,H,W,3) "
             "for ACT RGBD training. Shares the camera with --save_video.",
    )
    parser.add_argument(
        "--only_success", action="store_true", default=False,
        help="Discard demos where not all picked objects ended up in the basket.",
    )
    parser.add_argument(
        "--max_attempts", type=int, default=0,
        help="Stop after this many attempts even if num_demos is not reached. 0 means unlimited.",
    )
    parser.add_argument(
        "--trace", action="store_true", default=False,
        help="Print compact grasp/basket diagnostics for failed scripted demos.",
    )
    parser.add_argument(
        "--abort_failed_lift", action="store_true", default=False,
        help="Abort an attempt as soon as the current object fails the post-LIFT height gate.",
    )