#!/usr/bin/env bash
# Fix6: lerobot with correct PATH for git-lfs + video smoke test
set -uo pipefail

ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu
CONDA=$ROOT/miniconda3
RUN=$ROOT/1027_run
LOG=$RUN/logs/setup_fix6.log
exec > >(tee -a $LOG) 2>&1

export PATH=$CONDA/envs/simfoundry/bin:$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

# ── /home/yu symlink ─────────────────────────────────────────────────────────
mkdir -p /home
ln -sfn $ROOT /home/yu 2>/dev/null || true
mkdir -p $ROOT/ur5_sim2real_v5
ln -sfn $ROOT/1027_sim_tasks/share_v5_sim2real_20260929 $ROOT/ur5_sim2real_v5/share_v5_sim2real_20260929 2>/dev/null || true
ln -sfn $ROOT/1027_sim_tasks/ringpeg $ROOT/ur5_sim2real_v5/ringpeg 2>/dev/null || true
ln -sfn $ROOT/1027_sim_tasks/yu_parts_tasks $ROOT/ur5_sim2real_v5/yu_parts_tasks 2>/dev/null || true
ln -sfn $ROOT/1027_sim_tasks/assets/yuasset_v1_docs_only $ROOT/ur5_sim2real_v5/yuasset 2>/dev/null || true
ln -sfn $ROOT/SimFoundry $ROOT/ur5_sim2real_v5/SimFoundry 2>/dev/null || true
ln -sfn $CONDA $ROOT/miniconda3 2>/dev/null || true

# ── Install lerobot with simfoundry env PATH (so git-lfs is on PATH) ─────────
log "Installing lerobot (PATH includes simfoundry/bin for git-lfs)"
which git-lfs && git-lfs version || log "git-lfs not in PATH yet"

# git-lfs is in simfoundry env bin; PATH already set above
git lfs install --skip-repo 2>&1 || true
log "git-lfs: $(git lfs version 2>/dev/null || echo 'not found')"

$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 "Verify lerobot + omnigibson"
$SP -c "import lerobot; print('lerobot', lerobot.__version__ if hasattr(lerobot,'__version__') else 'ok')"
OMNI_KIT_ACCEPT_EULA=YES $SP -c "import omnigibson; print('omnigibson ok')" 2>&1 | tail -3

# ── Video smoke test ─────────────────────────────────────────────────────────
log "Video smoke test: package_d5 seed 1"
TASKS=$ROOT/1027_sim_tasks
V5CODE=$TASKS/share_v5_sim2real_20260929/code
PKG=$TASKS/package_d5
B1K=$ROOT/SimFoundry/deps/BEHAVIOR-1K

OG_DATA=$RUN/og_data/package_d5
if [ ! -d $OG_DATA ]; then
    bash $PKG/setup_og_data.sh "$B1K/datasets" "$OG_DATA"
fi

SMOKE_OUT=$RUN/data/smoke_package_d5
rm -rf $SMOKE_OUT; mkdir -p $SMOKE_OUT

export OMNIGIBSON_DATA_PATH=$OG_DATA STEP40_OG_DATA=$OG_DATA
export UR5_IMPORT=$V5CODE/ur5_import
export OBJECT_ASSETS=$PKG/object_assets
export STEP40_DATA=$PKG/data
export OMNIGIBSON_APPDATA_PATH=$PKG/og_appdata
export OMNIGIBSON_HEADLESS=1 OMNI_KIT_ACCEPT_EULA=YES PYTHONUNBUFFERED=1
export TORCHINDUCTOR_COMPILE_THREADS=1

log "Starting 1-demo collection with video"
timeout 600 $SP -u $PKG/scripts/t40_collect.py \
    --out $SMOKE_OUT \
    --seeds 1-10 \
    --max-kept 1 \
    --expert-cfg $PKG/cfg/expert_lean.json \
    2>&1 | tee $RUN/logs/smoke_package_d5.log
log "Collect exit $?"

VID=$(find $SMOKE_OUT -name "*.mp4" 2>/dev/null | head -1)
if [ -n "${VID:-}" ] && [ -f "$VID" ]; then
    SZ=$(stat -c%s "$VID")
    log "VIDEO: $VID  size=${SZ}B"
    [ "$SZ" -gt 10000 ] && log "VIDEO OK" || log "WARNING: too small"
else
    log "ERROR: no video found"
    tail -20 $RUN/logs/smoke_package_d5.log
fi

log "ALL DONE"
# (appended - should not re-run)