#!/usr/bin/env bash
# Fix3: complete ur5dp install + fix lerobot in simfoundry
set -uo pipefail

ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu
CONDA=$ROOT/miniconda3
LOG=$ROOT/1027_run/logs/setup_fix3.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

# ── ur5dp: install all remaining deps ─────────────────────────────────────────
log "Installing ur5dp remaining packages"
$UP -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

log "Installing robomimic"
$UP -m pip install --no-cache-dir \
    "robomimic @ git+https://github.com/BoceHu/robomimic.git@6737667" \
    || $UP -m pip install --no-cache-dir "robomimic==0.3.0"

log "Verifying ur5dp"
$UP -c "
import torch, diffusers, zarr, einops
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__)
print('einops', einops.__version__)
try:
    import robomimic; print('robomimic', robomimic.__version__)
except: print('robomimic missing')
try:
    import hydra; print('hydra ok')
except: print('hydra missing')
"

# ── simfoundry: fix lerobot ────────────────────────────────────────────────────
log "Installing lerobot into simfoundry (with deps this time)"
$SP -m pip install --no-cache-dir \
    "lerobot @ git+https://github.com/huggingface/lerobot.git@577cd10974b84bea1f06b6472eb9e5e74e07f77a"
$SP -m pip install --no-cache-dir "numpy==1.26.4" "psutil==5.9.8"

log "Verifying simfoundry"
$SP -c "
import torch, lerobot
print('torch', torch.__version__, torch.cuda.is_available())
print('lerobot', lerobot.__version__ if hasattr(lerobot,'__version__') else 'ok')
"
$SP -c "
import omnigibson
print('omnigibson ok')
" 2>&1 | tail -3

log "ALL DONE"