# CaT

SEED=42
EXPERIMENT_ID=pedipulation_0

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_cat/solo_hrl_ase_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_cat/solo_ase_cat_$EXPERIMENT_ID/nn/solo_ase_cat.pth"  --experiment_name="solo_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail_cat/solo_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail_cat/solo_ase_drail_cat_$EXPERIMENT_ID/nn/solo_ase_drail_cat.pth" --experiment_name="solo_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"

SEED=73
EXPERIMENT_ID=pedipulation_1

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_cat/solo_hrl_ase_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_cat/solo_ase_cat_$EXPERIMENT_ID/nn/solo_ase_cat.pth"  --experiment_name="solo_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail_cat/solo_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail_cat/solo_ase_drail_cat_$EXPERIMENT_ID/nn/solo_ase_drail_cat.pth" --experiment_name="solo_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"

SEED=19
EXPERIMENT_ID=pedipulation_2

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_cat/solo_hrl_ase_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_cat/solo_ase_cat_$EXPERIMENT_ID/nn/solo_ase_cat.pth"  --experiment_name="solo_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail_cat/solo_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail_cat/solo_ase_drail_cat_$EXPERIMENT_ID/nn/solo_ase_drail_cat.pth" --experiment_name="solo_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"

SEED=7929
EXPERIMENT_ID=pedipulation_3

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_cat/solo_hrl_ase_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_cat/solo_ase_cat_$EXPERIMENT_ID/nn/solo_ase_cat.pth"  --experiment_name="solo_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail_cat/solo_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail_cat/solo_ase_drail_cat_$EXPERIMENT_ID/nn/solo_ase_drail_cat.pth" --experiment_name="solo_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"

SEED=6177
EXPERIMENT_ID=pedipulation_4

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_cat/solo_hrl_ase_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_cat/solo_ase_cat_$EXPERIMENT_ID/nn/solo_ase_cat.pth"  --experiment_name="solo_hrl_ase_cat_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-CaT-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail_cat/solo_hrl_ase_drail_cat_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_cat_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail_cat/solo_ase_drail_cat_$EXPERIMENT_ID/nn/solo_ase_drail_cat.pth" --experiment_name="solo_hrl_ase_drail_cat_play" --experiment_id="$EXPERIMENT_ID"

# No CaT

SEED=42
EXPERIMENT_ID=pedipulation_0

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase/solo_hrl_ase_$EXPERIMENT_ID/nn/solo_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase/solo_ase_$EXPERIMENT_ID/nn/solo_ase.pth" --experiment_name="solo_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail/solo_hrl_ase_drail_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail/solo_ase_drail_$EXPERIMENT_ID/nn/solo_ase_drail.pth" --experiment_name="solo_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"

SEED=73
EXPERIMENT_ID=pedipulation_1

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase/solo_hrl_ase_$EXPERIMENT_ID/nn/solo_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase/solo_ase_$EXPERIMENT_ID/nn/solo_ase.pth" --experiment_name="solo_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail/solo_hrl_ase_drail_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail/solo_ase_drail_$EXPERIMENT_ID/nn/solo_ase_drail.pth" --experiment_name="solo_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"

SEED=19
EXPERIMENT_ID=pedipulation_2

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase/solo_hrl_ase_$EXPERIMENT_ID/nn/solo_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase/solo_ase_$EXPERIMENT_ID/nn/solo_ase.pth" --experiment_name="solo_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail/solo_hrl_ase_drail_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail/solo_ase_drail_$EXPERIMENT_ID/nn/solo_ase_drail.pth" --experiment_name="solo_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"

SEED=7929
EXPERIMENT_ID=pedipulation_3

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase/solo_hrl_ase_$EXPERIMENT_ID/nn/solo_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase/solo_ase_$EXPERIMENT_ID/nn/solo_ase.pth" --experiment_name="solo_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail/solo_hrl_ase_drail_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail/solo_ase_drail_$EXPERIMENT_ID/nn/solo_ase_drail.pth" --experiment_name="solo_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"

SEED=6177
EXPERIMENT_ID=pedipulation_4

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase/solo_hrl_ase_$EXPERIMENT_ID/nn/solo_hrl_ase_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase/solo_ase_$EXPERIMENT_ID/nn/solo_ase.pth" --experiment_name="solo_hrl_ase_play" --experiment_id="$EXPERIMENT_ID"

python ase/run.py --play --task Solo-Pedipulation-HRL-ASE-DRAIL-Play --headless --video --video_length 500 --motion_file ase/data/motions/solo/dataset.yaml --seed=$SEED --checkpoint="logs/rl_games/solo_hrl_ase_drail/solo_hrl_ase_drail_$EXPERIMENT_ID/nn/solo_hrl_ase_drail_00002000.pth" --llc_checkpoint="logs/rl_games/solo_ase_drail/solo_ase_drail_$EXPERIMENT_ID/nn/solo_ase_drail.pth" --experiment_name="solo_hrl_ase_drail_play" --experiment_id="$EXPERIMENT_ID"