/* 导出运动学 + 胶囊碰撞模型给 PyTorch（ml/common/kin_torch.py 读取）
 *   node ml/prep/export_kin.cjs [out=ml/assets/kin.json]
 * collide.json 重新拟合/重生成 pair2d 后必须重跑（指纹不符时 Python 端拒绝加载）。 */
'use strict';
const fs = require('fs'), path = require('path');
const { S } = require('../../tests/route_bench_setup.cjs')();
const OUT = process.argv[2] || path.join(__dirname, '../assets/kin.json');
const COL = JSON.parse(fs.readFileSync(path.join(__dirname, '../../docs/collide.json'), 'utf8'));
const ce = S.clusterExport();
const out = {
  fp: S.modelFingerprint(),
  order: S.ORDER,
  P: S.ORDER.map(id => S.P[id]), D: S.ORDER.map(id => S.D[id]),
  lim: S.ORDER.map(id => [S.LIM[id].lo, S.LIM[id].hi, S.LIM[id].cont ? 1 : 0]),
  tcp0: S.TCP0, capm: S.CAPM,
  caps: COL.caps.map(c => ({ g: c.g, a: c.a, b: c.b, r: c.r })),
  clusters: ce.clusters, cpairs: ce.cpairs,
  lever: S.leverBounds(20000),
  generated: new Date().toISOString()
};
fs.mkdirSync(path.dirname(OUT), { recursive: true });
fs.writeFileSync(OUT, JSON.stringify(out));
console.log('wrote', OUT, 'caps', out.caps.length, 'clusters', out.clusters.length, 'cpairs', out.cpairs.length, 'fp', out.fp);