# CaT

SEED=42
EXPERIMENT_ID=manipulation_0

python ase/run.py --play --task H1-Manipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_cat/h1_hrl_ase_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_cat/h1_ase_cat_$EXPERIMENT_ID/nn/h1_ase_cat.pth"  --experiment_name="h1_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail_cat/h1_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail_cat/h1_ase_drail_cat_$EXPERIMENT_ID/nn/h1_ase_drail_cat.pth" --experiment_name="h1_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"



SEED=73
EXPERIMENT_ID=manipulation_1

python ase/run.py --play --task H1-Manipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_cat/h1_hrl_ase_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_cat/h1_ase_cat_$EXPERIMENT_ID/nn/h1_ase_cat.pth"  --experiment_name="h1_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail_cat/h1_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail_cat/h1_ase_drail_cat_$EXPERIMENT_ID/nn/h1_ase_drail_cat.pth" --experiment_name="h1_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"



SEED=19
EXPERIMENT_ID=manipulation_2

python ase/run.py --play --task H1-Manipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_cat/h1_hrl_ase_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_cat/h1_ase_cat_$EXPERIMENT_ID/nn/h1_ase_cat.pth"  --experiment_name="h1_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail_cat/h1_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail_cat/h1_ase_drail_cat_$EXPERIMENT_ID/nn/h1_ase_drail_cat.pth" --experiment_name="h1_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"



SEED=7929
EXPERIMENT_ID=manipulation_3

python ase/run.py --play --task H1-Manipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_cat/h1_hrl_ase_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_cat/h1_ase_cat_$EXPERIMENT_ID/nn/h1_ase_cat.pth"  --experiment_name="h1_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail_cat/h1_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail_cat/h1_ase_drail_cat_$EXPERIMENT_ID/nn/h1_ase_drail_cat.pth" --experiment_name="h1_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"



SEED=6177
EXPERIMENT_ID=manipulation_4

python ase/run.py --play --task H1-Manipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_cat/h1_hrl_ase_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_cat/h1_ase_cat_$EXPERIMENT_ID/nn/h1_ase_cat.pth"  --experiment_name="h1_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail_cat/h1_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail_cat/h1_ase_drail_cat_$EXPERIMENT_ID/nn/h1_ase_drail_cat.pth" --experiment_name="h1_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"

# No CaT


SEED=42
EXPERIMENT_ID=manipulation_0

python ase/run.py --play --task H1-Manipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase/h1_hrl_ase_$EXPERIMENT_ID/nn/h1_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase/h1_ase_$EXPERIMENT_ID/nn/h1_ase.pth" --experiment_name="h1_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail/h1_hrl_ase_drail_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail/h1_ase_drail_$EXPERIMENT_ID/nn/h1_ase_drail.pth" --experiment_name="h1_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"


SEED=73
EXPERIMENT_ID=manipulation_1

python ase/run.py --play --task H1-Manipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase/h1_hrl_ase_$EXPERIMENT_ID/nn/h1_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase/h1_ase_$EXPERIMENT_ID/nn/h1_ase.pth" --experiment_name="h1_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail/h1_hrl_ase_drail_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail/h1_ase_drail_$EXPERIMENT_ID/nn/h1_ase_drail.pth" --experiment_name="h1_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"


SEED=19
EXPERIMENT_ID=manipulation_2

python ase/run.py --play --task H1-Manipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase/h1_hrl_ase_$EXPERIMENT_ID/nn/h1_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase/h1_ase_$EXPERIMENT_ID/nn/h1_ase.pth" --experiment_name="h1_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail/h1_hrl_ase_drail_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail/h1_ase_drail_$EXPERIMENT_ID/nn/h1_ase_drail.pth" --experiment_name="h1_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"


SEED=7929
EXPERIMENT_ID=manipulation_3

python ase/run.py --play --task H1-Manipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase/h1_hrl_ase_$EXPERIMENT_ID/nn/h1_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase/h1_ase_$EXPERIMENT_ID/nn/h1_ase.pth" --experiment_name="h1_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail/h1_hrl_ase_drail_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail/h1_ase_drail_$EXPERIMENT_ID/nn/h1_ase_drail.pth" --experiment_name="h1_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"


SEED=6177
EXPERIMENT_ID=manipulation_4

python ase/run.py --play --task H1-Manipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase/h1_hrl_ase_$EXPERIMENT_ID/nn/h1_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase/h1_ase_$EXPERIMENT_ID/nn/h1_ase.pth" --experiment_name="h1_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"


python ase/run.py --play --task H1-Manipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/h1/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/h1_hrl_ase_drail/h1_hrl_ase_drail_$EXPERIMENT_ID/nn/h1_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/h1_ase_drail/h1_ase_drail_$EXPERIMENT_ID/nn/h1_ase_drail.pth" --experiment_name="h1_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"