#!/usr/bin/env bash
# Render the formal comparison only after every method/task evaluation exists.
set -euo pipefail

root=/workspace/RoboFactory/runs/strict640x480_v2
results="$root/results"
tasks=(lift_barrier camera_alignment three_robots_stack_cube long_pipeline_delivery take_photo)
methods=(frozen_dinov3_act_all5_80k stereo_cross_relbias_all5_80k stereo_ffn_moe_all5_80k local_arca_all5_80k)

while :; do
  ready=1
  for method in "${methods[@]}"; do
    for task in "${tasks[@]}"; do
      [[ -s "$results/$method/formal_heldout_100/eval_${task}.json" ]] || ready=0
    done
  done
  [[ "$ready" == 1 ]] && break
  sleep 60
done

/workspace/venvs/robofactory-act/bin/python3.10 \
  /workspace/act_liftbarrier/make_strict640x480_result_table.py \
  --root "$results" --output "$root/final_report"
printf 'FORMAL_ALL5_REPORT_COMPLETE\n' > "$root/final_report/COMPLETE"
echo FORMAL_ALL5_REPORT_COMPLETE