#!/usr/bin/env bash

TIMESTAMP=$(date +"%y%m%d-%H:%m:%s")

## for color and size {red, green, blue, small, big}
# --dataset.single_task="grasp the $2 box" \

## for spatial reasoning {on, outside}
# --dataset.single_task="grasp the box $2 the plate" \


########
# below is for fast
########
lerobot-record --robot.type=so101_follower --robot.port=/dev/ttyACM1 --robot.id=my_awesome_follower_arm --teleop.type=so101_leader --teleop.port=/dev/ttyACM0 --teleop.id=my_awesome_leader_arm --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}}" --display_data=true  --dataset.repo_id=mentaripj/grasp_box --dataset.push_to_hub=false \
--dataset.single_task="put the box $2 the plate" \
--dataset.episode_time_s=50 \
--dataset.reset_time_s=10 \
--dataset.num_episodes=$3 \
--dataset.root=$1 \
--resume=$4 \

#--dataset.root=./datasets/grasp_box_local_$TIMESTAMP \
#--dataset.root=./datasets/continue \
#--resume=true