#!/usr/bin/env bash
set -uo pipefail
# Launch 10 tmux sessions, one per GR00T conflict checkpoint, all in parallel.
# GPU assignment: gpu = idx % NUM_GPUS  (with 8 GPUs, gpu0 & gpu1 host 2 each).
# Each session: GR00T server + ManiSkill OOD sweep on the same GPU.
#
# Usage: bash run_tmux_all.sh [seed=42] [total_episodes=200]
ROOT=/workspace/groot_eval
HARNESS="${ROOT}/harness"
SEED="${1:-42}"
TOTAL="${2:-200}"
NUM_GPUS="${NUM_GPUS:-8}"
BASE_PORT="${BASE_PORT:-5600}"

CATS=(color_object color_size color_spatial size_object spatial_object
      spatial_size verb_color verb_object verb_size verb_spatial)

mkdir -p "${ROOT}/logs/tmux"
for i in "${!CATS[@]}"; do
  cat="${CATS[$i]}"
  gpu=$(( i % NUM_GPUS ))
  port=$(( BASE_PORT + i ))
  sess="groot_${cat}"
  tmux kill-session -t "${sess}" 2>/dev/null || true
  tmux new-session -d -s "${sess}" \
    "bash ${HARNESS}/run_one_cat.sh ${cat} ${gpu} ${port} ${SEED} ${TOTAL} 2>&1 | tee ${ROOT}/logs/tmux/session_${cat}.log; echo; echo '=== ${cat} session finished (rc=$?) — pane kept for inspection ==='; exec bash"
  echo "launched tmux ${sess}  cat=${cat} gpu=${gpu} port=${port}"
  sleep 1
done
echo
echo "tmux sessions:"
tmux ls
echo
echo "Attach:  tmux attach -t groot_<category>"
echo "Logs:    ${ROOT}/logs/tmux/{server,client,session}_<category>.log"
echo "Results: ${ROOT}/results/<category>/<category>_ood_seed${SEED}.txt"
echo "Videos:  ${ROOT}/results/<category>/experiments/<run_name>/video/ep000{,_wrist}.mp4"