"""Что реально лежит в цепочках преобразований GreenVLA и есть ли нормировка."""
import os, sys, json
os.environ.setdefault("MUJOCO_GL", "egl")
from lerobot.common.policies.factory import load_pretrained_policy, _resolve_norm_stats_dir

CKPT = sys.argv[1] if len(sys.argv) > 1 else "SberRoboticsCenter/GreenVLA-5b-stride-1-R1-bridge"

print("HF_HOME=%s" % os.environ.get("HF_HOME"))
try:
    p = _resolve_norm_stats_dir(CKPT, "bridge")
    print("assets_dir: %s" % p)
    import pathlib
    pp = pathlib.Path(p)
    print("существует: %s" % pp.exists())
    if pp.exists():
        for f in pp.rglob("*"):
            print("   ", f)
except Exception as e:
    print("ОШИБКА _resolve_norm_stats_dir: %r" % (e,))

policy, itf, otf = load_pretrained_policy(CKPT, data_config_name="bridge")


def names(chain):
    fns = getattr(chain, "fns", None) or getattr(chain, "transforms", None) or []
    return [type(f).__name__ for f in fns]


print("")
print("ВХОДНАЯ цепочка: %s" % names(itf))
print("ВЫХОДНАЯ цепочка: %s" % names(otf))

for tag, chain in (("вход", itf), ("выход", otf)):
    fns = getattr(chain, "fns", None) or getattr(chain, "transforms", None) or []
    for f in fns:
        if "ormalize" in type(f).__name__:
            ns = getattr(f, "norm_stats", None)
            mode = getattr(f, "normalization_mode", None)
            print("")
            print("%s: %s режим=%s" % (tag, type(f).__name__, mode))
            if isinstance(ns, dict):
                for k, v in ns.items():
                    fields = sorted(vars(v).keys()) if hasattr(v, "__dict__") else list(v)
                    print("   ключ %r поля %s" % (k, fields))
                    for fld in ("mean", "std", "q01", "q99"):
                        val = getattr(v, fld, None)
                        if val is not None:
                            try:
                                import numpy as np
                                arr = np.asarray(val, float).ravel()
                                print("      %-5s n=%d  %s" % (fld, arr.size,
                                      " ".join("%.3f" % x for x in arr[:9])))
                            except Exception as e:
                                print("      %s -> %r" % (fld, e))