# PushCube 
python -m src.train.maniskill_train_ri \
    +experiment=rl/ri \
    +data.h5_path=$HOME/.maniskill/demos/PickCube-v1/motionplanning/trajectory.state.pd_ee_delta_pos.physx_cuda.h5 \
    base_policy.wandb_id=flare-robot/PushCube-v1-state-None/arx6h7gw \
    control.control_mode=pd_ee_delta_pos \
    env.task=PushCube-v1 \
    gpu_id=3 \
    load_pretrained_wts=true \
    base_policy.wt_type=best_success_rate \
    debug=false \
    initial_num_bc_epochs=100 \
    rl_per_bc=5 \
    num_env_steps=50

# PickCube
# python -m src.train.maniskill_train_ri \
#     +experiment=rl/ri \
#     +data.h5_path=$HOME/.maniskill/demos/PickCube-v1/motionplanning/trajectory.state.pd_ee_delta_pos.physx_cuda.h5 \
#     base_policy.wandb_id=flare-robot/maniskill_bc/2zozrjue \
#     control.control_mode=pd_ee_delta_pos \
#     env.task=PickCube-HybridRI-v1 \
#     gpu_id=0 \
#     base_policy.wt_type=best_success_rate \
#     debug=false \
#     initial_num_bc_epochs=0 \
#     rl_per_bc=5 \
#     num_env_steps=100