#!/bin/bash
# Run DROID preprocessing in chunks to avoid OOM
# Processes episodes 0-92232 in 3000-episode chunks

set -e

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "$SCRIPT_DIR"

# Configuration
TOTAL_START=0
TOTAL_END=92233  # Exclusive
CHUNK_SIZE=3000
MAX_FRAMES=400
OUTPUT_DIR="/tmp/droid_rlds_final"
GPU_ID=0

echo "=========================================="
echo "DROID Preprocessing (Chunked)"
echo "=========================================="
echo "Total range: $TOTAL_START to $((TOTAL_END-1))"
echo "Chunk size: $CHUNK_SIZE episodes"
echo "Max frames: $MAX_FRAMES"
echo "Output: $OUTPUT_DIR"
echo "GPU: $GPU_ID"
echo "=========================================="
echo ""

# Process in chunks
for ((start=$TOTAL_START; start<$TOTAL_END; start+=CHUNK_SIZE)); do
    end=$((start + CHUNK_SIZE))
    if [ $end -gt $TOTAL_END ]; then
        end=$TOTAL_END
    fi

    echo ""
    echo "=========================================="
    echo "Processing chunk: $start to $((end-1))"
    echo "=========================================="

    python3 preprocess_droid_rlds_final.py \
        --start-episode $start \
        --end-episode $end \
        --max-frames $MAX_FRAMES \
        --output-dir "$OUTPUT_DIR" \
        --gpu-id $GPU_ID \
        --save-previews 0

    if [ $? -ne 0 ]; then
        echo "ERROR: Chunk $start-$((end-1)) failed"
        exit 1
    fi

    echo "✓ Chunk complete: $start-$((end-1))"
done

echo ""
echo "=========================================="
echo "✓ All preprocessing complete!"
echo "=========================================="
echo "Output directory: $OUTPUT_DIR"
echo ""