#!/usr/bin/env bash
# Usage: run_strict_task_collection.sh TASK GPU COUNT OUTPUT [SEED_START] [WORKERS]
set -euo pipefail
task="$1"; gpu="$2"; count="$3"; output="$4"; seed_start="${5:-300000}"; workers="${6:-1}"
export CUDA_VISIBLE_DEVICES="$gpu" OMP_NUM_THREADS="${OMP_NUM_THREADS:-10}" MKL_NUM_THREADS="${MKL_NUM_THREADS:-10}"
export ROBOFACTORY_WRIST_WIDTH=640 ROBOFACTORY_WRIST_HEIGHT=480
cd /workspace/RoboFactory
# RoboFactory resolves scene paths relative to its Python package while the
# official asset snapshot is downloaded to the repository root.  Fail early if
# this explicit bridge or the required table mesh is absent.
if [[ ! -e robofactory/assets ]]; then
  ln -s ../assets robofactory/assets
fi
test -f robofactory/assets/scenes/table/table.glb
exec /workspace/venvs/robofactory-act/bin/python -u /workspace/act_liftbarrier/collect_wrist_task_dataset.py \
  --task "$task" --count "$count" --workers "$workers" --seed-start "$seed_start" --gpus 1 \
  --camera-width 640 --camera-height 480 --obs-mode rgbd --output "$output"