"""
验证 DROID action[:6] 是否等于 action_dict.cartesian_position
用法: python verify_action.py --dataset_dir /path/to/droid/1.0.0 --num_episodes 5
"""

import tensorflow_datasets as tfds
import numpy as np
import argparse

def verify(dataset_dir, num_episodes=5):
    builder = tfds.builder_from_directory(dataset_dir)
    ds = builder.as_dataset(split='train')
    
    for ep_idx, episode in enumerate(ds.take(num_episodes)):
        steps = list(episode['steps'])
        lang = steps[0]['language_instruction'].numpy().decode('utf-8')
        print(f"\nEpisode {ep_idx}: {len(steps)} steps, task='{lang}'")
        
        max_diff_cart = 0.0
        max_diff_grip = 0.0
        
        for step in steps:
            action = step['action'].numpy()
            cart_pos = step['action_dict']['cartesian_position'].numpy()
            grip_pos = step['action_dict']['gripper_position'].numpy()
            
            diff_cart = np.abs(action[:6] - cart_pos).max()
            diff_grip = np.abs(action[6] - grip_pos[0])
            
            max_diff_cart = max(max_diff_cart, diff_cart)
            max_diff_grip = max(max_diff_grip, diff_grip)
        
        print(f"  action[:6] vs action_dict.cartesian_position  max_diff: {max_diff_cart:.2e}")
        print(f"  action[6]  vs action_dict.gripper_position    max_diff: {max_diff_grip:.2e}")
        
        if max_diff_cart < 1e-10:
            print(f"  => action[:6] === commanded cartesian position")
        else:
            print(f"  => 不一致! action[:6] 不是 cartesian_position")
        
        if max_diff_grip < 1e-10:
            print(f"  => action[6]  === commanded gripper position")
        else:
            # 也许是 gripper velocity?
            grip_vel = step['action_dict']['gripper_velocity'].numpy()
            print(f"  => action[6] 不是 gripper_position，检查是否是 gripper_velocity...")

if __name__ == '__main__':
    parser = argparse.ArgumentParser()
    parser.add_argument('--dataset_dir', type=str, required=True)
    parser.add_argument('--num_episodes', type=int, default=5)
    args = parser.parse_args()
    verify(args.dataset_dir, args.num_episodes)