#!/bin/bash
# Generate validation trajectories for a single (task, subtask, obj) combo on HPC3.
# Output goes to mshab_data/gen_data_save_trajectories/{task}/{subtask}/val/{obj}/
#
# Usage: sbatch --export=TASK=set_table,SUBTASK=pick,OBJ=013_apple,MAX_TRAJ=100 scripts/gen_val_combo.sbatch
#
# Pipeline per combo:
#   1. gen_data.py with SPLIT=val, MAX_TRAJ=100   → val rollouts using val task_plan + spawn_data
#   2. add_pointcloud.py                          → pointcloud/{xyzw, rgb, mask}
#   3. add_xyzrgb.py                              → pointcloud/xyzrgb (1024 sampled pts)
#
#SBATCH -p acd_u
#SBATCH --nodes=1
#SBATCH --ntasks-per-node=1
#SBATCH --cpus-per-task=12
#SBATCH --mem=128G
#SBATCH --gres=gpu:1
#SBATCH -t 0-04:00:00

set -e
: "${TASK:?must pass TASK=...}"
: "${SUBTASK:?must pass SUBTASK=...}"
: "${OBJ:?must pass OBJ=...}"
MAX_TRAJ=${MAX_TRAJ:-100}

PROJECT=${PROJECT_ROOT}
LOG=$PROJECT/logs/gen_val_${TASK}_${SUBTASK}_${OBJ}_${SLURM_JOB_ID}.log
mkdir -p $PROJECT/logs
exec > "$LOG" 2>&1

module purge
module load cuda/12.6 gcc/11.5
export PATH=${CONDA_ENV_PATH}/bin:$PATH
export HF_HOME=${HF_CACHE_DIR}
export HUGGINGFACE_HUB_CACHE=${HF_CACHE_DIR}/hub
export HF_HUB_OFFLINE=1
export TRANSFORMERS_OFFLINE=1
export MS_ASSET_DIR=${MS_ASSET_DIR}
export MSHAB_CHECKPOINTS=$PROJECT/third_party/mshab/mshab_checkpoints

export SPLIT=val
export MAX_TRAJ=$MAX_TRAJ

echo "=== Host: $(hostname)   Time: $(date) ==="
echo "TASK=$TASK  SUBTASK=$SUBTASK  OBJ=$OBJ  SPLIT=$SPLIT  MAX_TRAJ=$MAX_TRAJ"
nvidia-smi --query-gpu=name,memory.free --format=csv | head

OUT_DIR=$PROJECT/third_party/mshab/mshab_data/gen_data_save_trajectories/$TASK/$SUBTASK/val/$OBJ

# --- Step 1: gen_data ---
HAS_H5=$(find "$OUT_DIR" -name "*.h5" -size +500M 2>/dev/null | head -1)
if [ -z "$HAS_H5" ]; then
    echo "=== [1/3] gen_data.py (val) ==="
    cd $PROJECT/third_party/mshab
    python -m mshab.utils.gen.gen_data "$TASK" "$SUBTASK" "$OBJ"
else
    echo "=== [1/3] gen_data SKIPPED — existing h5: $HAS_H5 ==="
fi

H5=$(find "$OUT_DIR" -name "*.h5" -size +500M 2>/dev/null | head -1)
if [ -z "$H5" ]; then
    echo "ERROR: gen_data produced no h5 file"
    ls -la "$OUT_DIR" 2>&1 || true
    exit 2
fi
echo "h5: $H5 ($(du -sh "$H5" | cut -f1))"

# --- Step 2: add pointcloud ---
echo "=== [2/3] add_pointcloud.py ==="
cd $PROJECT/third_party/mshab
python add_pointcloud.py --data-dir "$OUT_DIR" --max-workers 16

# --- Step 3: add xyzrgb ---
echo "=== [3/3] add_xyzrgb.py ==="
python add_xyzrgb.py --data-dir "$OUT_DIR"

echo "=== Done at $(date) ==="
du -sh "$H5"