#!/usr/bin/env bash
# Fix ur5dp env: install torch first, then rest of deps
# Also fix simfoundry lerobot
set -uo pipefail

ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu
CONDA=$ROOT/miniconda3
ENV_SRC=/lustre/fsw/portfolios/nvr/users/jtremblay/1027_sim_tasks_dl/1027_sim_tasks/env/yu_workstation_2026-10-27
LOG=$ROOT/1027_run/logs/setup_fix.log

exec > >(tee -a $LOG) 2>&1

export PATH=$CONDA/bin:/usr/local/bin:/usr/bin:/bin
export HOME=/root
source $CONDA/etc/profile.d/conda.sh

log() { echo "== $(date '+%F %T') $*"; }

# ── Fix ur5dp: install torch first, then everything else ──────────────────────
log "Fixing ur5dp env"
P=$CONDA/envs/ur5dp/bin/python

log "Installing torch 2.8.0+cu128 first"
$P -m pip install --no-cache-dir \
    torch==2.8.0+cu128 torchvision torchaudio \
    --extra-index-url https://download.pytorch.org/whl/cu128

log "Installing remaining ur5dp deps"
# Install key packages individually to avoid --no-deps conflicts
$P -m pip install --no-cache-dir \
    diffusers==0.35.2 \
    hydra-core==1.2.0 \
    omegaconf==2.2.3 \
    dill==0.3.5.1 \
    zarr==2.12.0 \
    einops==0.4.1 \
    numcodecs \
    imagecodecs \
    av \
    numba \
    pandas \
    tqdm \
    wandb \
    scipy \
    opencv-python-headless \
    robomimic==0.3.0

log "Installing robomimic from git if version mismatch"
$P -c "import robomimic; print('robomimic', robomimic.__version__)" 2>/dev/null || \
    $P -m pip install --no-cache-dir \
        "robomimic @ git+https://github.com/BoceHu/robomimic.git@6737667"

log "Verifying ur5dp"
$P -c "import torch, diffusers, robomimic, hydra, zarr; \
    print('torch', torch.__version__, torch.cuda.is_available(), \
    torch.cuda.get_device_name(0) if torch.cuda.is_available() else 'no-gpu')"

# ── Fix simfoundry lerobot ─────────────────────────────────────────────────────
log "Fixing simfoundry lerobot"
SP=$CONDA/envs/simfoundry/bin/python
$SP -m pip install --no-deps \
    "lerobot @ git+https://github.com/huggingface/lerobot.git@577cd10974b84bea1f06b6472eb9e5e74e07f77a"
$SP -m pip install "datasets>=2.19.0,<3" jsonlines "av>=14.2.0" cmake \
    "deepdiff>=7.0.1,<9" draccus==0.10.0 pynput pyserial \
    "rerun-sdk>=0.21.0,<0.23.0" zmq
$SP -m pip install "numpy==1.26.4" "coverage==7.6.1" "typing_extensions>=4.15.0" "psutil==5.9.8"

log "Verifying simfoundry"
$SP -c "import torch, omnigibson, isaacsim, lerobot; \
    print('torch', torch.__version__, torch.cuda.is_available()); \
    print('omnigibson + lerobot ok')"

log "ALL DONE"