import json
from pathlib import Path

MODALITY = {
    "action": {
        "left_joints": {"start": 0, "end": 6, "original_key": "action.joints"},
        "right_joints": {"start": 6, "end": 12, "original_key": "action.joints"},
        "left_gripper": {"start": 0, "end": 2, "original_key": "action.gripper"},
        "right_gripper": {"start": 2, "end": 4, "original_key": "action.gripper"},
        "base_delta": {"start": 0, "end": 3, "original_key": "action.base_delta"}
    },
    "state": {
        "left_joints": {"start": 0, "end": 6, "original_key": "state.joints"},
        "right_joints": {"start": 6, "end": 12, "original_key": "state.joints"},
        "left_gripper": {"start": 0, "end": 2, "original_key": "state.gripper"},
        "right_gripper": {"start": 2, "end": 4, "original_key": "state.gripper"},
        "base": {"start": 0, "end": 3, "original_key": "state.base"}
    },
    "video": {
        "cam_high": {"original_key": "video.top_camera_view"},
        "cam_left_wrist": {"original_key": "video.left_camera_view"},
        "cam_right_wrist": {"original_key": "video.right_camera_view"}
    },
    "annotation": {
        "human.action.task_description": {"original_key": "task_index"}
    }
}

ROOT = Path("teleop_tasks")

for task_dir in ROOT.iterdir():
    if not task_dir.is_dir():
        continue

    meta_dir = task_dir / "meta"
    meta_dir.mkdir(parents=True, exist_ok=True)

    out_file = meta_dir / "modality.json"
    with open(out_file, "w", encoding="utf-8") as f:
        json.dump(MODALITY, f, indent=4, ensure_ascii=False)

    print(f"✓ written: {out_file}")

ROOT = Path("long_horizon")

for task_dir in ROOT.iterdir():
    if not task_dir.is_dir():
        continue

    meta_dir = task_dir / "meta"
    meta_dir.mkdir(parents=True, exist_ok=True)

    out_file = meta_dir / "modality.json"
    with open(out_file, "w", encoding="utf-8") as f:
        json.dump(MODALITY, f, indent=4, ensure_ascii=False)

    print(f"✓ written: {out_file}")

ROOT = Path("simple_pnp")

for task_dir in ROOT.iterdir():
    if not task_dir.is_dir():
        continue

    meta_dir = task_dir / "meta"
    meta_dir.mkdir(parents=True, exist_ok=True)

    out_file = meta_dir / "modality.json"
    with open(out_file, "w", encoding="utf-8") as f:
        json.dump(MODALITY, f, indent=4, ensure_ascii=False)

    print(f"✓ written: {out_file}")