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

export PORT="${PORT:-7860}"
export PYTHONUNBUFFERED=1
export PYTHONPATH="${PYTHONPATH:-/app/cosmos-framework}"
export HF_HOME="${HF_HOME:-/tmp/.cache/huggingface}"
export XDG_CACHE_HOME="${XDG_CACHE_HOME:-/tmp/.cache}"
export MPLCONFIGDIR="${MPLCONFIGDIR:-/tmp/matplotlib}"
export MUJOCO_GL="${MUJOCO_GL:-osmesa}"
export HF_HUB_DISABLE_XET="${HF_HUB_DISABLE_XET:-1}"

# Default to the packaged Bridge demo subset. No HF download/streaming is needed.
export COSMOS_VIEWER_ON_DEMAND_VIDEO="${COSMOS_VIEWER_ON_DEMAND_VIDEO:-0}"
export COSMOS_VIEWER_DOWNLOAD_DATA="${COSMOS_VIEWER_DOWNLOAD_DATA:-0}"
export BRIDGE_LEROBOT_ROOT="${BRIDGE_LEROBOT_ROOT:-/app/assets/examples/bridge_lerobot_v3}"
export AV_ROOT="${AV_ROOT:-/app/assets/examples/av_v2_03292026_wdinfo}"
export UMI_ROOT="${UMI_ROOT:-/app/assets/examples/fastumi/fastumi_single_arm/pour_coke}"
export FRACTAL_ROOT="${FRACTAL_ROOT:-/app/assets/examples/fractal20220817_data}"
export DROID_ROOT="${DROID_ROOT:-/app/assets/examples/droid_plus_lerobot_640x360_20260412}"
export ROBOMIND_FRANKA_ROOT="${ROBOMIND_FRANKA_ROOT:-/app/assets/examples/RoboMIND_20251228/benchmark1_0_release/franka_3rgb/241021_close_trash_bin_1}"
export ROBOMIND_FRANKA_DUAL_ROOT="${ROBOMIND_FRANKA_DUAL_ROOT:-/app/assets/examples/RoboMIND_20251228/benchmark1_1_release/franka_fr3_dual/both_pour_water}"
export ROBOMIND_ROOT="${ROBOMIND_ROOT:-/app/assets/examples/RoboMIND_20251228}"

mkdir -p "${HF_HOME}" "${XDG_CACHE_HOME}"

echo "Starting Cosmos3 action viewer on port ${PORT}"
echo "BRIDGE_LEROBOT_ROOT=${BRIDGE_LEROBOT_ROOT}"
echo "COSMOS_VIEWER_ON_DEMAND_VIDEO=${COSMOS_VIEWER_ON_DEMAND_VIDEO}"
echo "AV_ROOT=${AV_ROOT}"
echo "UMI_ROOT=${UMI_ROOT}"
echo "FRACTAL_ROOT=${FRACTAL_ROOT}"
echo "DROID_ROOT=${DROID_ROOT}"
echo "ROBOMIND_FRANKA_ROOT=${ROBOMIND_FRANKA_ROOT}"
echo "ROBOMIND_FRANKA_DUAL_ROOT=${ROBOMIND_FRANKA_DUAL_ROOT}"

cd /app/cosmos-framework
python cosmos_framework/data/vfm/action/urdf_visualizer/viewer.py --port "${PORT}"