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

# Set up a conda environment capable of running the full online GWAM final graph:
# RoboCasa/robosuite + torch + SAM2 code + OpenAI CLIP.
#
# Usage:
#   bash scripts/setup_realtime_final_graph_env.sh robocasa
#
# Notes:
# - This script installs SAM2/CLIP code. The SAM2/CLIP checkpoints are bundled
#   under models/ in the HF package and are used by default.
# - RoboCasa assets are not redistributed here; users must comply with RoboCasa
#   upstream setup/asset instructions.
# - The torch command below targets CUDA 13.0 wheels. Change the index/device for
#   CPU or other CUDA versions.

ENV_NAME="${1:-robocasa}"
WORK_ROOT="${GWAM_SETUP_ROOT:-$HOME/gwam_realtime_deps}"
ROBOCASA_ROOT="${ROBOCASA_ROOT:-$WORK_ROOT/robocasa}"
ROBOSUITE_ROOT="${ROBOSUITE_ROOT:-$WORK_ROOT/robosuite}"
SAM2_ROOT="${SAM2_ROOT:-$WORK_ROOT/sam2}"
ROBOSUITE_COMMIT="5ce6643f3092639d08f7b0f90ed1c6a84f50552c"
ROBOCASA_COMMIT="b4684e6ee37d377cc392e98302a6b916d588b415"
SAM2_COMMIT="2b90b9f5ceec907a1c18123530e92e794ad901a4"
CLIP_COMMIT="d05afc436d78f1c48dc0dbf8e5980a9d471f35f6"

if command -v conda >/dev/null 2>&1; then
  CONDA_EXE="$(command -v conda)"
elif [[ -x /home/chris/anaconda3/bin/conda ]]; then
  CONDA_EXE="/home/chris/anaconda3/bin/conda"
else
  echo "conda not found; install Miniconda/Anaconda first" >&2
  exit 2
fi

if ! "$CONDA_EXE" env list | awk '{print $1}' | grep -qx "$ENV_NAME"; then
  "$CONDA_EXE" create -y -n "$ENV_NAME" python=3.11
fi
CONDA_BASE="$("$CONDA_EXE" info --base)"
ENV_PREFIX="$("$CONDA_BASE/bin/python" - "$ENV_NAME" <<'PY'
import json, subprocess, sys
name = sys.argv[1]
payload = json.loads(subprocess.check_output([sys.executable.replace('/bin/python', '/bin/conda'), 'env', 'list', '--json'], text=True))
matches = [path for path in payload['envs'] if path.rsplit('/', 1)[-1] == name]
if len(matches) != 1:
    raise SystemExit(f'expected one conda environment named {name}, got {matches}')
print(matches[0])
PY
)"
PYTHON="$ENV_PREFIX/bin/python"

"$PYTHON" -m pip install --upgrade pip
"$PYTHON" -m pip install numpy opencv-python
"$PYTHON" -m pip install "git+https://github.com/openai/CLIP.git@${CLIP_COMMIT}"

mkdir -p "$WORK_ROOT"

# RoboCasa main requires robosuite master APIs such as load_model_on_init.
# The PyPI robosuite==1.5.2 release is not compatible with RoboCasa 1.0.1.
if [[ ! -d "$ROBOSUITE_ROOT/.git" ]]; then
  git clone https://github.com/ARISE-Initiative/robosuite.git "$ROBOSUITE_ROOT"
fi
git -C "$ROBOSUITE_ROOT" fetch origin "$ROBOSUITE_COMMIT"
git -C "$ROBOSUITE_ROOT" checkout --detach "$ROBOSUITE_COMMIT"
"$PYTHON" -m pip install -e "$ROBOSUITE_ROOT"

if [[ ! -d "$ROBOCASA_ROOT/.git" ]]; then
  git clone https://github.com/robocasa/robocasa.git "$ROBOCASA_ROOT"
fi
git -C "$ROBOCASA_ROOT" fetch origin "$ROBOCASA_COMMIT"
git -C "$ROBOCASA_ROOT" checkout --detach "$ROBOCASA_COMMIT"
"$PYTHON" -m pip install -e "$ROBOCASA_ROOT"

if [[ ! -d "$SAM2_ROOT/.git" ]]; then
  git clone https://github.com/facebookresearch/sam2.git "$SAM2_ROOT"
fi
git -C "$SAM2_ROOT" fetch origin "$SAM2_COMMIT"
git -C "$SAM2_ROOT" checkout --detach "$SAM2_COMMIT"
"$PYTHON" -m pip install -e "$SAM2_ROOT"

# RoboCasa/LeRobot dependencies may downgrade torch to a CUDA 12.6 wheel that
# cannot execute on Blackwell (sm_120). Re-assert the CUDA 13 wheel last.
"$PYTHON" -m pip install --upgrade torch torchvision --index-url https://download.pytorch.org/whl/cu130
# Reinstall NCCL from PyPI: the dependency copy selected during mixed-index
# resolution can carry the same version metadata but omit ncclCommResume.
"$PYTHON" -m pip install --force-reinstall --no-cache-dir nvidia-nccl-cu13==2.29.7

cat <<'EOF'

RoboCasa code deps are installed. If this is a fresh machine, also install/download
RoboCasa kitchen assets according to upstream RoboCasa instructions before running
live simulator tasks. This dataset does not redistribute RoboCasa assets.
EOF

"$PYTHON" - <<'PY'
import importlib.util
missing=[]
for m in ['robocasa','robosuite','torch','clip','sam2','cv2','numpy']:
    ok = importlib.util.find_spec(m) is not None
    print(m, ok)
    if not ok: missing.append(m)
if missing:
    raise SystemExit(f'missing imports: {missing}')
print('setup_realtime_final_graph_env_ok')
PY

"$PYTHON" - <<'PY'
import torch
print("torch", torch.__version__, "cuda", torch.version.cuda, "available", torch.cuda.is_available())
if torch.cuda.is_available():
    value = float((torch.ones(8, device="cuda") ** 2).sum().item())
    if value != 8.0:
        raise SystemExit(f"CUDA execution smoke differs: {value}")
    print("setup_realtime_final_graph_cuda_smoke_ok", value)
PY

"$PYTHON" - <<PY
from pathlib import Path
checks = {
    Path("$ROBOSUITE_ROOT"): "$ROBOSUITE_COMMIT",
    Path("$ROBOCASA_ROOT"): "$ROBOCASA_COMMIT",
    Path("$SAM2_ROOT"): "$SAM2_COMMIT",
}
import subprocess
for root, expected in checks.items():
    got = subprocess.check_output(["git", "-C", str(root), "rev-parse", "HEAD"], text=True).strip()
    print(root.name, got)
    if got != expected:
        raise SystemExit(f"commit mismatch for {root}: {got} != {expected}")
print("setup_realtime_final_graph_commits_ok")
PY