
gpu_id=0

declare -a arr=("./checkpoints/rt_1_x_tf_trained_for_002272480_step/" \
                "./checkpoints/rt_1_tf_trained_for_000400120/" \
                "./checkpoints/rt_1_tf_trained_for_000058240/" \
                "./checkpoints/rt_1_tf_trained_for_000001120/")

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


# base setup

env_name=MoveNearGoogleInScene-v0
scene_name=google_pick_coke_can_1_v4

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

do CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model rt1 --ckpt-path ${ckpt_path} \
  --robot google_robot_static \
  --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 0.21 0.21 1 --obj-variation-mode episode --obj-episode-range 0 60 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.09 -0.09 1;

done



# distractor

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

do CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model rt1 --ckpt-path ${ckpt_path} \
  --robot google_robot_static \
  --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 0.21 0.21 1 --obj-variation-mode episode --obj-episode-range 0 60 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.09 -0.09 1 \
  --additional-env-build-kwargs no_distractor=True;

done


# backgrounds

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

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

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

do CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model rt1 --ckpt-path ${ckpt_path} \
  --robot google_robot_static \
  --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 0.21 0.21 1 --obj-variation-mode episode --obj-episode-range 0 60 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.09 -0.09 1;

done

done





# lighting

env_name=MoveNearGoogleInScene-v0
scene_name=google_pick_coke_can_1_v4

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

do CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model rt1 --ckpt-path ${ckpt_path} \
  --robot google_robot_static \
  --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 0.21 0.21 1 --obj-variation-mode episode --obj-episode-range 0 60 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.09 -0.09 1 \
  --additional-env-build-kwargs slightly_darker_lighting=True;

CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model rt1 --ckpt-path ${ckpt_path} \
  --robot google_robot_static \
  --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 0.21 0.21 1 --obj-variation-mode episode --obj-episode-range 0 60 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.09 -0.09 1 \
  --additional-env-build-kwargs slightly_brighter_lighting=True;

done





# table textures

env_name=MoveNearGoogleInScene-v0
declare -a scene_arr=("Baked_sc1_staging_objaverse_cabinet1_h870" \
                      "Baked_sc1_staging_objaverse_cabinet2_h870")

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

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

do CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model rt1 --ckpt-path ${ckpt_path} \
  --robot google_robot_static \
  --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 0.21 0.21 1 --obj-variation-mode episode --obj-episode-range 0 60 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.09 -0.09 1;

done

done




# camera orientations

declare -a env_arr=("MoveNearAltGoogleCameraInScene-v0" \
                   "MoveNearAltGoogleCamera2InScene-v0")
scene_name=google_pick_coke_can_1_v4

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

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

do CUDA_VISIBLE_DEVICES=${gpu_id} python simpler_env/main_inference.py --policy-model rt1 --ckpt-path ${ckpt_path} \
  --robot google_robot_static \
  --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 0.21 0.21 1 --obj-variation-mode episode --obj-episode-range 0 60 \
  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.09 -0.09 1;

done

done
