#!/usr/bin/env bash
# Fix7: install lerobot from pre-cloned local path, then 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_fix7.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
for x in share_v5_sim2real_20260929 ringpeg yu_parts_tasks toaster_lever; do
    ln -sfn $ROOT/1027_sim_tasks/$x $ROOT/ur5_sim2real_v5/$x 2>/dev/null || true
done
ln -sfn $ROOT/1027_sim_tasks $ROOT/ur5_sim2real_v5/bread_lean 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 from local pre-cloned source
log "Installing lerobot from $ROOT/lerobot_src"
$SP -m pip install --no-cache-dir --no-build-isolation "$ROOT/lerobot_src"
$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
rm -rf $OG_DATA
bash $PKG/setup_og_data.sh "$B1K/datasets" "$OG_DATA"
# Fix symlinks to use /lustre/fsw (not /lustre/fs12) so container can find them
DS_FSW=/lustre/fsw/portfolios/nvr/users/jtremblay/yu/SimFoundry/deps/BEHAVIOR-1K/datasets
for x in behavior-1k-assets omnigibson-robot-assets omnigibson.key; do
    rm -f $OG_DATA/$x && ln -sfn $DS_FSW/$x $OG_DATA/$x
done
for c in $DS_FSW/real2sim-assets/objects/*; do
    nm=$(basename $c); tgt=$OG_DATA/real2sim-assets/objects/$nm
    [ -L "$tgt" ] && rm -f "$tgt" && ln -sfn "$c" "$tgt" || true
done

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=$V5CODE/ur5_import OBJECT_ASSETS=$PKG/object_assets
export STEP40_DATA=$PKG/data OMNIGIBSON_APPDATA_PATH=$PKG/og_appdata
export OMNIGIBSON_HEADLESS=1 OMNI_KIT_ACCEPT_EULA=YES PYTHONUNBUFFERED=1
export OMNIGIBSON_RENDER_VIEWER_CAMERA=0
export TORCH_COMPILE_DISABLE=1
export TORCHDYNAMO_DISABLE=1
export TORCHINDUCTOR_COMPILE_THREADS=1

log "Collecting 1 demo 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"
    [ "$SZ" -gt 10000 ] && log "VIDEO OK" || log "WARNING: too small (${SZ}B)"
else
    log "ERROR: no video found"
    tail -20 $RUN/logs/smoke_package_d5.log
fi
log "ALL DONE"