#!/usr/bin/env bash
set -euo pipefail

TASK="${1:?usage: run_anybimanual_task_eval.sh <task_name> [episodes] [gpu]}"
EPISODES="${2:-5}"
GPU="${3:-0}"
DEMO_PATH="${DEMO_PATH:-/workspace/data/rlbench2}"
RUN_LOGDIR="${RUN_LOGDIR:-/workspace/runs/anybimanual/peract_lf_eval}"

ROOT="/workspace/third_party/AnyBimanual"
ENV_DIR="/workspace/envs/anybi311"
export HOME="/workspace"
export HF_HOME="/workspace/.hf"
export TORCH_HOME="/workspace/.cache/torch"
export COPPELIASIM_ROOT="/workspace/assets/coppeliasim_v4_1_0"
export LD_LIBRARY_PATH="${LD_LIBRARY_PATH:-}:$COPPELIASIM_ROOT"
export QT_QPA_PLATFORM_PLUGIN_PATH="$COPPELIASIM_ROOT"
export MESA_GL_VERSION_OVERRIDE="4.1"
export PYOPENGL_PLATFORM="egl"
export PYTHONPATH="$ROOT:$ROOT/third_party/RLBench:$ROOT/third_party/YARR:$ROOT/third_party/PyRep:$ROOT/third_party/pytorch3d:${PYTHONPATH:-}"

source "$ENV_DIR/bin/activate"
cd "$ROOT"

xvfb-run -a python eval.py \
  method=PERACT_BC \
  framework.logdir="$RUN_LOGDIR" \
  rlbench.task_name='per2+ab' \
  rlbench.demo_path="$DEMO_PATH" \
  rlbench.gripper_mode='BimanualDiscrete' \
  rlbench.arm_action_mode='BimanualEndEffectorPoseViaPlanning' \
  rlbench.action_mode='BimanualMoveArmThenGripper' \
  framework.start_seed=0 \
  framework.eval_type=60000 \
  framework.eval_episodes="$EPISODES" \
  framework.eval_envs=1 \
  framework.eval_save_metrics=true \
  framework.gpu="$GPU" \
  rlbench.headless=true \
  cinematic_recorder.enabled=false \
  "rlbench.tasks=[$TASK]"