#!/usr/bin/env bash
set -euo pipefail
sample_root=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)
: "${FLEXIV_LEFT_SN:?set left robot serial in private cell config}"
: "${FLEXIV_RIGHT_SN:?set right robot serial in private cell config}"
: "${UMI_INFER_DATA:?set UMI_INFER_DATA}"
export FLEXIV_URDF=${FLEXIV_URDF:-$sample_root/flexiv-umi-infer/urdf/flexiv_rizon4_dual_umi.urdf}
export PYTHONPATH="$sample_root/flexiv-umi-infer${PYTHONPATH:+:$PYTHONPATH}"
# Dry-run by default. --live / --gripper are only forwarded when explicitly supplied.
exec "${ROBOT_PYTHON:-python}" -m umi_infer.robot_agent --io flexiv --live-camera \
  --server "${SERVER_URI:-ws://127.0.0.1:8765}" "$@"