#!/usr/bin/env bash
set -euo pipefail
sample_root=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)
FLUX_EXPORT_DIR=${FLUX_EXPORT_DIR:-$sample_root/checkpoints/flux_fold_clothes_bf16}
: "${FLUX_RESOURCES:?set FLUX_RESOURCES}"
: "${UMI_INFER_DATA:?set UMI_INFER_DATA to the calibrated cell directory}"
export PYTHONPATH="$sample_root/flexiv-umi-infer:$sample_root/flux-umi/src${PYTHONPATH:+:$PYTHONPATH}"
exec "${FLUX_PYTHON:-python}" -m umi_infer.policy_server --policy flux \
  --flux-export "$FLUX_EXPORT_DIR" --flux-resources "$FLUX_RESOURCES" \
  --flux-e-left "$UMI_INFER_DATA/E_left.npy" --flux-e-right "$UMI_INFER_DATA/E_right.npy" \
  --flux-e-provenance "$UMI_INFER_DATA/E_from_urdf.json" \
  --flux-prompt "${TASK_PROMPT:-fold the clothes}" \
  --flux-sampler "${FLUX_SAMPLER:-euler}" --flux-steps "${FLUX_STEPS:-4}" \
  --flux-shift "${FLUX_SHIFT:-42}" --flux-guidance "${FLUX_GUIDANCE:-1.0}" \
  --flux-action-guidance "${FLUX_ACTION_GUIDANCE:-1.0}" --flux-seed "${FLUX_SEED:-0}" \
  --host "${SERVER_HOST:-127.0.0.1}" --port "${SERVER_PORT:-8765}" --device "${DEVICE:-cuda:0}" "$@"