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

EPISODES="${1:-10}"
NUM_K_INFER="${2:-50}"
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
PYTHON_BIN="${PYTHON_BIN:-python}"
COPPELIASIM_ROOT="${COPPELIASIM_ROOT:?set COPPELIASIM_ROOT to your CoppeliaSim root}"
REPORT_DIR="${REPORT_DIR:-$ROOT/reports/pointflowmatch_take_shoes_out_of_box_ep${EPISODES}_k${NUM_K_INFER}_gpu}"

export PYTHONPATH="$ROOT/third_party/diffusion_policy:$ROOT/third_party/PointFlowMatch:${PYTHONPATH:-}"
export LD_LIBRARY_PATH="${LD_LIBRARY_PATH:-}:$COPPELIASIM_ROOT"
export QT_QPA_PLATFORM_PLUGIN_PATH="$COPPELIASIM_ROOT"

mkdir -p "$REPORT_DIR"
cd "$ROOT/third_party/PointFlowMatch"

xvfb-run -a -s "-screen 0 1400x900x24" "$PYTHON_BIN" scripts/evaluate.py \
  log_wandb=False \
  env_runner.env_config.vis=False \
  env_runner.num_episodes="$EPISODES" \
  env_runner.max_episode_length=200 \
  policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka \
  policy.num_k_infer="$NUM_K_INFER" \
  2>&1 | tee "$REPORT_DIR/run.log"