#!/usr/bin/env bash
set -uo pipefail
ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu
RUN=$ROOT/1027_run
TASKS=$ROOT/1027_sim_tasks
V5CODE=$TASKS/share_v5_sim2real_20260929/code
CONDA=$ROOT/miniconda3
SPY=$CONDA/envs/simfoundry/bin/python
UPY=$CONDA/envs/ur5dp/bin/python
HOME_FAKE=$RUN/home_fake
NAME=package_d5_v1
PKG=$TASKS/package_d5

mkdir -p $HOME_FAKE/ur5_sim2real_v5 $RUN/logs $V5CODE/sim_data $V5CODE/train_runs
ln -sfn $CONDA                      $HOME_FAKE/miniconda3
ln -sfn $TASKS/share_v5_sim2real_20260929 $HOME_FAKE/ur5_sim2real_v5/share_v5_sim2real_20260929
ln -sfn $PKG                        $HOME_FAKE/ur5_sim2real_v5/bread_lean 2>/dev/null || true
export HOME=$HOME_FAKE

log() { echo "== $(date '+%F %T') $*"; }
source $CONDA/etc/profile.d/conda.sh
export TORCHINDUCTOR_COMPILE_THREADS=1 OMNIGIBSON_HEADLESS=1 OMNI_KIT_ACCEPT_EULA=YES PYTHONUNBUFFERED=1
export OMNIGIBSON_RENDER_VIEWER_CAMERA=0 TORCH_COMPILE_DISABLE=1 TORCHDYNAMO_DISABLE=1

OG_DATA=$RUN/og_data/package_d5
if [ ! -d $OG_DATA ]; then
    bash $PKG/setup_og_data.sh "$ROOT/SimFoundry/deps/BEHAVIOR-1K/datasets" "$OG_DATA"
fi
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" "$tgt" || true
done
export STEP40_OG_DATA=$OG_DATA OMNIGIBSON_DATA_PATH=$OG_DATA
export UR5_IMPORT=$V5CODE/ur5_import OBJECT_ASSETS=$PKG/object_assets
export STEP40_DATA=$PKG/data OMNIGIBSON_APPDATA_PATH=$PKG/og_appdata

# Two parallel processes on GPU 0 and GPU 2, seeds split
DATA_A=$RUN/data/${NAME}_a
DATA_B=$RUN/data/${NAME}_b
mkdir -p $DATA_A $DATA_B

log "Collecting package_d5: 2x parallel (GPU0 seeds 1-150, GPU2 seeds 151-300)"

CUDA_VISIBLE_DEVICES=0 OMNIGIBSON_GPU_ID=0 \
$SPY -u $PKG/scripts/t40_collect.py \
    --out $DATA_A --seeds 1-150 --max-kept 30 \
    --expert-cfg $PKG/cfg/expert_lean.json --dart --start-offset --resume \
    2>&1 | tee $RUN/logs/${NAME}_a.log &
PID_A=$!

sleep 60  # stagger Isaac Sim init

CUDA_VISIBLE_DEVICES=2 OMNIGIBSON_GPU_ID=2 \
$SPY -u $PKG/scripts/t40_collect.py \
    --out $DATA_B --seeds 151-300 --max-kept 30 \
    --expert-cfg $PKG/cfg/expert_lean.json --dart --start-offset --resume \
    2>&1 | tee $RUN/logs/${NAME}_b.log &
PID_B=$!

wait $PID_A; log "Proc A done (exit $?)"
wait $PID_B; log "Proc B done (exit $?)"

# Merge A+B into final DATA_DIR
DATA_DIR=$RUN/data/$NAME
python3 $RUN/merge_shards.py $DATA_A $DATA_B $DATA_DIR 50

kept=$($UPY -c "import json; d=json.load(open('$DATA_DIR/collect_meta.json')); print(d['n_kept'])" 2>/dev/null || echo 0)
log "Kept total: $kept"
if [ "$kept" -lt 30 ]; then log "ERROR: only $kept demos"; exit 1; fi

ln -sfn $DATA_DIR $V5CODE/sim_data/$NAME
log "Packing zarr"
cd $V5CODE && $UPY ur5_import/scripts/pack_zarr.py --dir sim_data/$NAME 2>&1 | tee -a $RUN/logs/${NAME}_train.log
log "Pack exit $?"

log "Training DP ($kept demos)"
cd $V5CODE/ur5_lab_code && export PYTHONPATH=src:.
$UPY train.py --config-name=train_baseline_diffusion_unet task=sim_baseline \
    task_name=$NAME dataset_path=$V5CODE/sim_data/$NAME n_demo=$kept \
    training.device=cuda:0 training.seed=0 training.num_epochs=130 \
    training.checkpoint_every=129 checkpoint.topk.k=0 \
    dataloader.batch_size=256 dataloader.num_workers=16 logging.mode=offline \
    "policy._target_=algorithms.policy.diffusion_unet_baseline_aug_policy.DiffusionUnetBaselineAugPolicy" \
    +policy.cam1_dropout=0.1 +policy.cam1_aug_p=0.5 +policy.cam1_erase_p=0.3 +policy.cam0_aug_p=0.3 \
    "hydra.run.dir=$V5CODE/train_runs/${NAME}_aug_s0" \
    2>&1 | tee $RUN/logs/${NAME}_train.log
rc=$?; log "Train exit $rc"
[ $rc -eq 0 ] && touch $RUN/data/TRAIN_DONE_${NAME} || { log "TRAIN FAILED"; exit 1; }
log "DONE: $V5CODE/train_runs/${NAME}_aug_s0/checkpoints/"