"""Example: python example.py /path/to/download --method hybrid --task fold_clothes."""
import argparse
try:
    from .reader import Dataset
except ImportError:
    from reader import Dataset

parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument('directory')
parser.add_argument('--method', choices=['hybrid', 'direct'], default='hybrid')
parser.add_argument('--task', default='fold_clothes')
args = parser.parse_args()
dataset = Dataset(args.directory)
record = dataset.select(method=args.method, task=args.task)[0]
with dataset.open(record['episode_id'], verify=True) as episode:
    print('Case:', episode.metadata['case'])
    print('Outcome:', episode.metadata['outcome'])
    for decision in episode.decisions[:3]:
        obs = decision.observation(images='preview')
        print('Decision', decision.index, 'before-step', decision.record['start_tick'],
              'mode', decision.record['source_detail'], 'executed', decision.executed_actions.shape,
              'head preview', obs['cam_high'].shape)
        proposal = decision.pi05_proposal
        if proposal is not None:
            print('pi05 candidate:', proposal['actions'].shape)
        print('Reason:', decision.requested_response.get('reason'))
        print('Corrective step targets:', len(decision.eef_targets))