#!/usr/bin/env bash

TIMESTAMP=$(date +"%y%m%d-%H%m%s")
TASK="grasp the $2 box" 
#TASK="grasp the box $2 the plate" 
#TASK="put the box $2 the plate" 

TIME=90

rm -rf ~/eval_datasets/$TIMESTAMP
#!/bin/bash

# DIRECTORY="/home/kunhsiang/jdk/z_tmp_jdk/eval_datasets/$TIMESTAMP"

#if [ ! -d "$DIRECTORY" ]; then
#    echo "Directory does not exist. Creating..."
#    mkdir -p "$DIRECTORY"
#    mkdi
#    r -p "${DIRECTORY}/meta"
#    mkdir -p "${DIRECTORY}/videos"
#else
#    echo "Directory az

#--policy.path=ckpts/act_2/pretrained_model \

#--policy.path=ckpts/$1/pretrained_model \
  
CUDA_VISIBLE_DEVICES=1 lerobot-record \
--robot.type=so101_follower \
--robot.port=/dev/ttyACM1 \
--robot.id=my_awesome_follower_arm \
--policy.path=$1 \
--display_data=true \
--dataset.repo_id=a/eval_grasp_$TIMESTAMP \
--dataset.num_episodes=1 \
--dataset.episode_time_s=$TIME  \
--dataset.push_to_hub=false \
--dataset.root=/home/kunhsiang/jdk/z_tmp_jdk/eval_datasets/$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}
}" \
\
--dataset.single_task="${TASK}"
#--dataset.single_task="grasp the $2 box" 
#--dataset.single_task="grasp the box $2 the plate" 
#--dataset.single_task="put the box $2 the plate" 


#sleep 2s

make reset