gpu_id=0

declare -a arr=("/mnt/blob/task/moe_v1_full_oxe_single_image_7_21/checkpoints/oxe/oxe/checkpoint-20000/pytorch_model.pth")

# lr_switch=laying horizontally but flipped left-right to match real eval; upright=standing; laid_vertically=laying vertically
declare -a coke_can_options_arr=("lr_switch=True" "upright=True" "laid_vertically=True")
config_name=fractal20220817_data_lerobot
for ckpt_path in "${arr[@]}"; do echo "$ckpt_path"; done

logging_dir=simpler_result/pi_pick_coke_can_variant_agg_20k
# base setup

env_name=GraspSingleOpenedCokeCanInScene-v0
scene_name=google_pick_coke_can_1_v4

for coke_can_option in "${coke_can_options_arr[@]}";

do for ckpt_path in "${arr[@]}";

do python main_inference.py --policy-model pi --ckpt-path ${ckpt_path} --config-name ${config_name}\
    --robot google_robot_static --action-scale 1.0 \
    --logging-dir ${logging_dir} \
    --control-freq 3 --sim-freq 513 --max-episode-steps 80 \
    --env-name ${env_name} --scene-name ${scene_name} \
    --robot-init-x 0.35 0.35 1 --robot-init-y 0.20 0.20 1 --obj-init-x -0.35 -0.12 5 --obj-init-y -0.02 0.42 5 \
    --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
    --additional-env-build-kwargs ${coke_can_option};

done

done



# # table textures

# env_name=GraspSingleOpenedCokeCanInScene-v0

# declare -a scene_arr=("Baked_sc1_staging_objaverse_cabinet1_h870" \
#                       "Baked_sc1_staging_objaverse_cabinet2_h870")


# for coke_can_option in "${coke_can_options_arr[@]}";

# do for scene_name in "${scene_arr[@]}";

# do for ckpt_path in "${arr[@]}";

# do python main_inference.py --policy-model pi --ckpt-path ${ckpt_path} --config-name ${config_name} \
#     --robot google_robot_static --action-scale 1.0 \
#     --logging-dir ${logging_dir} \
#     --control-freq 3 --sim-freq 513 --max-episode-steps 80 \
#     --env-name ${env_name} --scene-name ${scene_name} \
#     --robot-init-x 0.35 0.35 1 --robot-init-y 0.20 0.20 1 --obj-init-x -0.35 -0.12 5 --obj-init-y -0.02 0.42 5 \
#     --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
#     --additional-env-build-kwargs ${coke_can_option};

# done

# done

# done




# # distractors

# env_name=GraspSingleOpenedCokeCanDistractorInScene-v0
# scene_name=google_pick_coke_can_1_v4

# for coke_can_option in "${coke_can_options_arr[@]}";

# do for ckpt_path in "${arr[@]}";

# do python main_inference.py --policy-model pi --ckpt-path ${ckpt_path} --config-name ${config_name} \
#   --robot google_robot_static --action-scale 1.0 \
#   --logging-dir ${logging_dir} \
#   --control-freq 3 --sim-freq 513 --max-episode-steps 80 \
#   --env-name ${env_name} --scene-name ${scene_name} \
#   --robot-init-x 0.35 0.35 1 --robot-init-y 0.20 0.20 1 --obj-init-x -0.35 -0.12 5 --obj-init-y -0.02 0.42 5 \
#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
#   --additional-env-build-kwargs ${coke_can_option};

# do python main_inference.py --policy-model pi --ckpt-path ${ckpt_path} --config-name ${config_name} \
#   --robot google_robot_static --action-scale 1.0 \
#   --logging-dir ${logging_dir} \
#   --control-freq 3 --sim-freq 513 --max-episode-steps 80 \
#   --env-name ${env_name} --scene-name ${scene_name} \
#   --robot-init-x 0.35 0.35 1 --robot-init-y 0.20 0.20 1 --obj-init-x -0.35 -0.12 5 --obj-init-y -0.02 0.42 5 \
#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
#   --additional-env-build-kwargs ${coke_can_option} distractor_config=more;

# done

# done




# # # backgrounds

# env_name=GraspSingleOpenedCokeCanInScene-v0
# declare -a scene_arr=("google_pick_coke_can_1_v4_alt_background" \
#                       "google_pick_coke_can_1_v4_alt_background_2")

# for coke_can_option in "${coke_can_options_arr[@]}";

# do for scene_name in "${scene_arr[@]}";

# do for ckpt_path in "${arr[@]}";

# do python main_inference.py --policy-model pi --ckpt-path ${ckpt_path} --config-name ${config_name} \
#   --robot google_robot_static --action-scale 1.0 \
#   --logging-dir ${logging_dir} \
#   --control-freq 3 --sim-freq 513 --max-episode-steps 80 \
#   --env-name ${env_name} --scene-name ${scene_name} \
#   --robot-init-x 0.35 0.35 1 --robot-init-y 0.20 0.20 1 --obj-init-x -0.35 -0.12 5 --obj-init-y -0.02 0.42 5 \
#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
#   --additional-env-build-kwargs ${coke_can_option};

# done

# done

# done



# # lightings

# env_name=GraspSingleOpenedCokeCanInScene-v0
# scene_name=google_pick_coke_can_1_v4

# for coke_can_option in "${coke_can_options_arr[@]}";

# do for ckpt_path in "${arr[@]}";

# do python main_inference.py --policy-model pi --ckpt-path ${ckpt_path} --config-name ${config_name} \
#   --robot google_robot_static --action-scale 1.0 \
#   --logging-dir ${logging_dir} \
#   --control-freq 3 --sim-freq 513 --max-episode-steps 80 \
#   --env-name ${env_name} --scene-name ${scene_name} \
#   --robot-init-x 0.35 0.35 1 --robot-init-y 0.20 0.20 1 --obj-init-x -0.35 -0.12 5 --obj-init-y -0.02 0.42 5 \
#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
#   --additional-env-build-kwargs ${coke_can_option} slightly_darker_lighting=True;


# do python main_inference.py --policy-model pi --ckpt-path ${ckpt_path} --config-name ${config_name} \
#   --robot google_robot_static --action-scale 1.0 \
#   --logging-dir ${logging_dir} \
#   --control-freq 3 --sim-freq 513 --max-episode-steps 80 \
#   --env-name ${env_name} --scene-name ${scene_name} \
#   --robot-init-x 0.35 0.35 1 --robot-init-y 0.20 0.20 1 --obj-init-x -0.35 -0.12 5 --obj-init-y -0.02 0.42 5 \
#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
#   --additional-env-build-kwargs ${coke_can_option} slightly_brighter_lighting=True;

# done

# done




# # camera orientations

# declare -a env_arr=("GraspSingleOpenedCokeCanAltGoogleCameraInScene-v0" \
#                    "GraspSingleOpenedCokeCanAltGoogleCamera2InScene-v0")
# scene_name=google_pick_coke_can_1_v4

# for coke_can_option in "${coke_can_options_arr[@]}";

# do for env_name in "${env_arr[@]}";

# do for ckpt_path in "${arr[@]}";

# do python main_inference.py --policy-model pi --ckpt-path ${ckpt_path} --config-name ${config_name} \
#   --robot google_robot_static --action-scale 1.0 \
#   --logging-dir ${logging_dir} \
#   --control-freq 3 --sim-freq 513 --max-episode-steps 80 \
#   --env-name ${env_name} --scene-name ${scene_name} \
#   --robot-init-x 0.35 0.35 1 --robot-init-y 0.20 0.20 1 --obj-init-x -0.35 -0.12 5 --obj-init-y -0.02 0.42 5 \
#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
#   --additional-env-build-kwargs ${coke_can_option};

# done

# done

# done