"""Download and verify the FoundationPose checkpoints listed in configs/foundationpose_weights_manifest.json.

Files go to third_party/FoundationPose/weights/<run>/{config.yml, model_best.pth}; resumable (Range requests), SHA-256 checked.
The manifest URLs point at a community Hugging Face mirror (official Google Drive quota was exceeded when the snapshot was made);
replace `url` entries with the official links if you have them. Usage: .venv/bin/python scripts/download_foundationpose_weights.py
"""
import hashlib, json, time
from pathlib import Path
import requests

ROOT = Path(__file__).resolve().parents[1]
manifest = json.loads((ROOT / 'configs/foundationpose_weights_manifest.json').read_text())
dest = ROOT / 'third_party/FoundationPose/weights'
for item in manifest['files']:
    path = dest / item['path']; path.parent.mkdir(parents=True, exist_ok=True); tmp = path.with_suffix(path.suffix + '.part')
    if path.exists() and path.stat().st_size == item['size'] and hashlib.sha256(path.read_bytes()).hexdigest() == item['sha256']:
        print('ok      ', item['path']); continue
    for attempt in range(5):
        try:
            offset = tmp.stat().st_size if tmp.exists() else 0
            print(f'download {item["path"]} from byte {offset}', flush=True)
            with requests.get(item['url'], headers={'Range': f'bytes={offset}-{item["size"] - 1}'}, stream=True, timeout=(20, 60)) as r:
                r.raise_for_status()
                if offset and r.status_code != 206: offset = 0
                with tmp.open('ab' if offset else 'wb') as f:
                    for chunk in r.iter_content(1024 * 1024): f.write(chunk)
            if tmp.stat().st_size == item['size']: tmp.replace(path); break
        except requests.RequestException as e:
            print('retry:', type(e).__name__, flush=True); time.sleep(3)
    assert path.exists() and path.stat().st_size == item['size'], f'incomplete: {path}'
    digest = hashlib.sha256(path.read_bytes()).hexdigest(); assert digest == item['sha256'], f'sha256 mismatch: {path}'
    print('verified', item['path'], flush=True)
(dest / 'download_manifest.json').write_text(json.dumps(manifest, indent=2)); print('all FoundationPose weights present in', dest)