#!/usr/bin/env bash
# Fix2: install lerobot into simfoundry env correctly; verify both envs
set -uo pipefail

ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu
CONDA=$ROOT/miniconda3
LOG=$ROOT/1027_run/logs/setup_fix2.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') $*"; }

SP=$CONDA/envs/simfoundry/bin/python
UP=$CONDA/envs/ur5dp/bin/python

# ── Install lerobot directly into simfoundry bin/pip ──────────────────────────
log "Installing lerobot into simfoundry via $SP -m pip"
$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 pyserial \
    "rerun-sdk>=0.21.0,<0.23.0" zmq
$SP -m pip install "numpy==1.26.4" "psutil==5.9.8"

log "Verify simfoundry: torch + isaacsim + lerobot"
$SP -c "import torch; print('torch', torch.__version__, torch.cuda.is_available())"
$SP -c "import isaacsim; print('isaacsim ok')" 2>&1 | tail -2
$SP -c "import lerobot; print('lerobot ok')"
$SP -c "import omnigibson; print('omnigibson ok')" 2>&1 | tail -2

log "Verify ur5dp: torch + diffusers + zarr"
$UP -c "import torch, diffusers, zarr; \
    print('torch', torch.__version__, torch.cuda.is_available(), \
    torch.cuda.get_device_name(0) if torch.cuda.is_available() else 'no-gpu'); \
    print('diffusers', diffusers.__version__); print('zarr', zarr.__version__)"

log "ALL DONE"