"""Run a trained policy in the PyBullet sim with full curriculum progression.

Usage:
    python ml/run_eval.py --model ml/checkpoints/ppo_joint_command.zip --episodes 5 --gui
"""

import argparse
import sys
from pathlib import Path

ROOT_DIR = Path(__file__).resolve().parent.parent
if str(ROOT_DIR) not in sys.path:
    sys.path.insert(0, str(ROOT_DIR))

from ml.evaluate import evaluate


def main():
    parser = argparse.ArgumentParser(description="JackBot Curriculum Policy Evaluator Wrapper")
    parser.add_argument("--model", type=str, required=True, help="Path to the trained model file (.zip)")
    parser.add_argument("--episodes", type=int, default=5, help="Number of evaluation episodes to run.")
    parser.add_argument("--gui", action="store_true", help="Show the PyBullet GUI during evaluation")
    parser.add_argument("--robot-spacing", type=float, default=0.5, help="Spacing between robots in meters")
    parser.add_argument("--start-pose", type=str, choices=["init_deg", "init90_deg"], default="init_deg", help="Initial robot pose at reset")
    parser.add_argument("--no-random-command", dest="random_command", action="store_false", help="Disable command sampling and lock to zero commands")
    parser.set_defaults(random_command=True)
    parser.add_argument("--save-metrics", type=str, default=None, help="Optional path to save JSON metrics report")
    args = parser.parse_args()

    evaluate(
        model_path=args.model,
        episodes=args.episodes,
        use_gui=args.gui,
        robot_spacing=args.robot_spacing,
        start_pose=args.start_pose,
        random_command=args.random_command,
        save_json=args.save_metrics,
    )


if __name__ == "__main__":
    main()