#!/bin/bash

# 1. Define the Parameter Space (The targets)
# TASKS=("red" "green" "blue")
TASKS=("on" "outside")

# 2. Extract Policy Path from Argument
POLICY_PATH=$1

if [ -z "$POLICY_PATH" ]; then
    echo "Error: No policy path provided. Usage: ./run_eval.sh <policy_path>"
    exit 1
fi

# 3. Execution Loop
for TASK in "${TASKS[@]}"; do
    # Generate a unique timestamp per color to prevent filesystem collisions
    TIMESTAMP=$(date +%Y%m%d_%H%M%S)
    
    echo "------------------------------------------------"
    echo "Starting evaluation: Grasp the box $TASK the plate"
    echo "Timestamp: $TIMESTAMP"
    echo "------------------------------------------------"

    # 4. Atomic Execution of LeRobot Record
    CUDA_VISIBLE_DEVICES=1 lerobot-record \
        --display_data=true \
        --robot.type=so101_follower \
        --robot.port=/dev/ttyACM1 \
        --robot.id=my_awesome_follower_arm \
        --policy.path="$POLICY_PATH" \
        --dataset.repo_id="a/eval_grasp_${TASK}_${TIMESTAMP}" \
        --dataset.num_episodes=1 \
        --dataset.single_task="grasp the box $TASK the plate" \
        --dataset.episode_time_s=90  \
        --dataset.push_to_hub=false \
        --dataset.root=~/eval_datasets/"${TASK}_${TIMESTAMP}" \
        --robot.cameras="{
          front: {type: opencv, index_or_path: /dev/video2, width: 640, height: 480, fps: 30, fourcc: MJPG},
          gripper: {type: opencv, index_or_path: /dev/video0, width: 640, height: 480, fps: 30, fourcc: MJPG},
          top: {type: opencv, index_or_path: /dev/video4, width: 640, height: 480, fps: 30, fourcc: MJPG}
        }"

    # 5. Cooldown and Hardware Reset
    echo "Waiting for process termination..."
    sleep 4s

    echo "Resetting robot to home position..."
    make reset
    

    # echo "Cooling down motors... 5s"
    # sleep 5s 
done

echo "Evaluation suite complete for all colors."