gpu_id=0
policy_model=pi
# ckpt_path=/mnt/blob/task/windowx/checkpoints/pi0_bridge_eef_fullstate/windowx/30000 # CogACT/CogACT-Large CogACT/CogACT-Small
# ckpt_path=/mnt/blob/task/rt1_bridge_zero/checkpoints/rt1_bridge_fsdp/rt1_bridge_zero/129999
ckpt_path=/mnt/blob/task/rt1_windowx_zero_state/checkpoints/rt1_bridge_pre/rt1_bridge_zero/100000
config_name=pi0_bridge_eef_fullstate

scene_name=bridge_table_1_v1
robot=widowx
rgb_overlay_path=/home/azureuser/v-anonymous/Code/openpi/SimplerEnv/ManiSkill2_real2sim/data/real_inpainting/bridge_real_eval_1.png
robot_init_x=0.147
robot_init_y=0.028

logging_dir=mixed_100000

# python main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} --config-name ${config_name}\
#   --robot ${robot} --policy-setup widowx_bridge --action-scale 1.0\
#   --logging-dir ${logging_dir} \
#   --control-freq 5 --sim-freq 500 --max-episode-steps 120 \
#   --env-name StackGreenCubeOnYellowCubeBakedTexInScene-v0 --scene-name ${scene_name} \
#   --rgb-overlay-path ${rgb_overlay_path} \
#   --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;

python main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} --config-name ${config_name}\
  --robot ${robot} --policy-setup widowx_bridge --action-scale 1.0\
  --logging-dir ${logging_dir} \
  --control-freq 5 --sim-freq 500 --max-episode-steps 120 \
  --env-name PutCarrotOnPlateInScene-v0 --scene-name ${scene_name} \
  --rgb-overlay-path ${rgb_overlay_path} \
  --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;

# python main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} --config-name ${config_name}\
#   --robot ${robot} --policy-setup widowx_bridge --action-scale 1.0\
#   --logging-dir ${logging_dir} \
#   --control-freq 5 --sim-freq 500 --max-episode-steps 120 \
#   --env-name PutSpoonOnTableClothInScene-v0 --scene-name ${scene_name} \
#   --rgb-overlay-path ${rgb_overlay_path} \
#   --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;


# scene_name=bridge_table_1_v2
# robot=widowx_sink_camera_setup
# rgb_overlay_path=/home/azureuser/v-anonymous/Code/openpi/SimplerEnv/ManiSkill2_real2sim/data/real_inpainting/bridge_sink.png
# robot_init_x=0.127
# robot_init_y=0.06

# python main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} --config-name ${config_name}\
#   --robot ${robot} --policy-setup widowx_bridge --action-scale 1.0\
#   --logging-dir ${logging_dir} \
#   --control-freq 5 --sim-freq 500 --max-episode-steps 120 \
#   --env-name PutEggplantInBasketScene-v0 --scene-name ${scene_name} \
#   --rgb-overlay-path ${rgb_overlay_path} \
#   --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;