#!/usr/bin/env bash
set -euo pipefail

REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
PYTHON_BIN="${PYTHON_BIN:-/home/ubuntu/envs/genmanip-isaac5-py311/bin/python}"

OBJ="${1:-3}"
if (( $# > 0 )); then
  shift
fi
SEED="${1:-11}"
if (( $# > 0 )); then
  shift
fi
MASK_PROVIDER="${MASK_PROVIDER:-oracle}"
VIDEO_PATH="${VIDEO_PATH:-logs/videos/task_e_anygrasp/anygrasp_obj${OBJ}_seed${SEED}.mp4}"
DEBUG_NPZ="${DEBUG_NPZ:-logs/anygrasp_task_e/obj${OBJ}_seed${SEED}_debug.npz}"

cd "${REPO_ROOT}"

exec env OMNI_KIT_ACCEPT_EULA=YES PYTHONUNBUFFERED=1 "${PYTHON_BIN}" \
  scripts/graspnet_task_e/run_graspnet_pick.py \
  --grasp_provider anygrasp \
  --object "${OBJ}" \
  --seed "${SEED}" \
  --mask_provider "${MASK_PROVIDER}" \
  --use_task_quat \
  --tcp_z_offset 0.040 \
  --close_z_offset -0.020 \
  --close_steps 160 \
  --move_steps 200 \
  --transport_steps 1400 \
  --place_steps 260 \
  --video_path "${VIDEO_PATH}" \
  --save_debug_npz "${DEBUG_NPZ}" \
  --headless \
  "$@"