import argparse
from tqdm import tqdm
from pathlib import Path

import mujoco

# from mujoco.usd import exporter
import exporter

def generate_usd_trajectory(args):

  # load a model to mujoco
  model_path = args.model_path
  m = mujoco.MjModel.from_xml_path(model_path)
  d = mujoco.MjData(m)

  # create an instance of the USDExporter
  exp = exporter.USDExporter(model=m,
                             output_directory_name=Path(args.model_path).stem,
                             output_directory_root=args.output_directory_root,
                             camera_names=args.camera_names)
    
  # step through the simulation for the given duration of time
  while d.time < args.duration:
    mujoco.mj_step(m, d)
    if exp.frame_count < d.time * args.framerate:
      exp.update_scene(data=d)

  exp.save_scene(filetype=args.export_extension)

if __name__ == "__main__":

  parser = argparse.ArgumentParser()

  parser.add_argument('--model_path', 
                      type=str,
                      required=True,
                      help='path to mjcf xml model')

  parser.add_argument('--duration',
                      type=int,
                      default=5,
                      help='duration in seconds for the generated video')

  parser.add_argument('--framerate',
                      type=int,
                      default=60,
                      help='frame rate of the generated video')

  parser.add_argument('--output_directory_root', 
                      type=str,
                      default="../usd_trajectories/",
                      help='location where to create usd files')

  parser.add_argument('--camera_names', 
                      type=str,
                      nargs='+',
                      help='cameras to include in usd')

  parser.add_argument('--export_extension', 
                      type=str,
                      default="usd",
                      help='extension of exported file (can be usd, usda, or usdc)')

  args = parser.parse_args()
  generate_usd_trajectory(args)