#!/bin/bash
# Visualize tracks for a checkpoint
cd /mnt/filesystem-g0/Dual-Dynamics-Models/openpi

eval "$(conda shell.bash hook 2>/dev/null)"
conda activate atm_ati_vdm

CKPT_BASE="checkpoints/pi05_realworld_track_joint/run1"
CONFIG="pi05_realworld_track_joint"
NUM_SAMPLES=5
OUTPUT_BASE="track_viz_output"

STEP=${1:-20000}

echo "=== Visualizing checkpoint step $STEP ==="
HF_LEROBOT_HOME=data PYTHONPATH=src:$PYTHONPATH python scripts/visualize_tracks.py \
    --config "$CONFIG" \
    --checkpoint-dir "$CKPT_BASE/$STEP" \
    --num-samples "$NUM_SAMPLES" \
    --output-dir "$OUTPUT_BASE/$STEP"

echo "Done! All visualizations in $OUTPUT_BASE/"