python -m src.train.maniskill_bc \
    --config-name=base_maniskill \
    +experiment=state/diff_unet \
    +data.h5_path="/home/gdch/.maniskill/demos/PushCube-v1/motionplanning/trajectory.state.pd_ee_delta_pos.physx_cuda.h5" \
    task=PushCube-v1 \
    control.control_mode=pd_ee_delta_pos \
    wandb.name=PickCube-v1-state
