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# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
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#
# http://www.apache.org/licenses/LICENSE-2.0
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"""
Precomputes T5 text embeddings for ALOHA task descriptions and saves them to disk for faster training.

Usage:
    uv run -m cosmos_policy.datasets.save_aloha_t5_text_embeddings [--data_dir DATA_DIR]
"""

import argparse

from cosmos_policy.datasets.aloha_dataset import ALOHADataset
from cosmos_policy.datasets.t5_embedding_utils import (
    generate_t5_embeddings,
    save_embeddings,
)


def parse_args():
    parser = argparse.ArgumentParser(description="Precompute T5 text embeddings for ALOHA task descriptions")
    parser.add_argument(
        "--data_dir",
        type=str,
        default="users/user/data/aloha",
        help="Directory containing ALOHA dataset",
    )
    return parser.parse_args()


def main():
    args = parse_args()
    data_dir = args.data_dir

    print("Loading data...")
    dataset = ALOHADataset(
        data_dir=data_dir,
    )

    t5_text_embeddings = generate_t5_embeddings(dataset.unique_commands)
    save_embeddings(t5_text_embeddings, data_dir)


if __name__ == "__main__":
    main()