#!/usr/bin/env bash
# 把 Flexiv Isaac Sim 集成仓库克隆到 thirdparty/
set -euo pipefail

ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
TP="${ROOT}/thirdparty"
mkdir -p "${TP}"
cd "${TP}"

clone_or_update() {
  local url="$1"
  local dir="$2"
  if [[ -d "${dir}/.git" ]]; then
    echo "Updating ${dir}..."
    git -C "${dir}" pull --ff-only || true
  else
    echo "Cloning ${dir}..."
    git clone --depth 1 "${url}" "${dir}"
  fi
}

clone_or_update https://github.com/flexivrobotics/flexiv_sim_plugin.git flexiv_sim_plugin
clone_or_update https://github.com/flexivrobotics/isaac_sim_ws.git isaac_sim_ws
clone_or_update https://github.com/flexivrobotics/flexiv_description.git flexiv_description

# 可选：在仿真目录旁放一份 RDK 源码（如果 src/ 下还没有）
if [[ ! -d "${ROOT}/src/flexiv_rdk" ]]; then
  clone_or_update https://github.com/flexivrobotics/flexiv_rdk.git flexiv_rdk
fi

cat <<EOF

Isaac / description repos are under: ${TP}

Next (Isaac path):
  1) Install NVIDIA Isaac Sim
  2) Follow flexiv_sim_plugin README (Elements Studio → External / Isaac)
  3) cd ${TP}/isaac_sim_ws && bash install_ws.sh <isaac_sim_root>
  4) Configure robot instance for Rizon4-063989 in app_config.yaml
  5) Primitive docs: https://primitive.flexiv.cn/primitives/zh-CN/3.10/rizon4/index.html
  6) RDK manual (CN): https://flexiv.cn/software/rdk/manual/index.html

ROS 2 path (separate):
  ${ROOT}/scripts/fetch_flexiv.sh

EOF