#!/usr/bin/env bash
set -euo pipefail

BUNDLE_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
TARGET_ROOT="${1:-$HOME/workspace/teddybear_openpi}"

mkdir -p "$TARGET_ROOT"
mkdir -p "$TARGET_ROOT/openpi"
mkdir -p "$TARGET_ROOT/sim"

if ! command -v uv >/dev/null 2>&1; then
  curl -LsSf https://astral.sh/uv/install.sh | sh
  export PATH="$HOME/.cargo/bin:$PATH"
fi

if ! command -v hf >/dev/null 2>&1; then
  curl -LsSf https://hf.co/cli/install.sh | bash -s
fi

if [[ -n "${HF_TOKEN:-}" ]]; then
  hf auth whoami >/dev/null 2>&1 || hf auth login --token "$HF_TOKEN"
fi

cp -a "$BUNDLE_ROOT/code/openpi/." "$TARGET_ROOT/openpi/"
cp -a "$BUNDLE_ROOT/sim/." "$TARGET_ROOT/sim/"

cd "$TARGET_ROOT/openpi"
uv sync --frozen
. .venv/bin/activate
pip install scipy opencv-python-headless

echo "$TARGET_ROOT"