import numpy as np

from mrunner.helpers.specification_helper import create_experiments_helper

from mrunner_exps.utils import combine_config_with_defaults

name = globals()["script"][:-3]

# params for all exps
config = {
    "exp_tag": "behavioral_cloning",
    "run_kind": "bc",
    "log_to_wandb": True,
    "pretrain_steps": 200,
    "steps": 200,
    "log_every": 1,
    "num_eval_eps": 10,
    "verbose": False,
    "lr": 0.01,
    "c": 0.5,
    "start_x": 0.0,
    "goal_x": 50.0,
    "bias_in_state": True,
    "position_in_state": False,
    "time_limit": 100,
    "wandbcommit": 100,
    "pretrain": "phase2",
    "finetune": "full",
}
config = combine_config_with_defaults(config)

# params different between exps
params_grid = [
    {
        "seed": list(range(10)),
        "c": list(np.arange(0.1, 1.1, 0.1)),
        "goal_x": list(np.arange(5, 50, 5)),
    }
]

experiments_list = create_experiments_helper(
    experiment_name=name,
    project_name="apple",
    with_neptune=False,
    script="python3 mrunner_run.py",
    python_path=".",
    tags=[name],
    exclude=["logs", "wandb"],
    base_config=config,
    params_grid=params_grid,
)