#!/usr/bin/env python3

from __future__ import annotations

import argparse

from common import eval_policy, load_config, maybe_reexec_with_mjpython


def main() -> None:
    parser = argparse.ArgumentParser(description="Run closed-loop MuJoCo evaluation with the configured ACT checkpoint.")
    parser.add_argument("--config", default=None)
    args = parser.parse_args()

    cfg = load_config(args.config)
    maybe_reexec_with_mjpython(cfg.eval.show_viewer, "MUJOCO_LEROBOT_EVAL_REEXEC")
    eval_policy(cfg)


if __name__ == "__main__":
    main()