#!/usr/bin/env bash
# Evaluate ONE GR00T checkpoint on the negmesh8/mimicgen8 exact160 bank, LOCAL node,
# 1 GPU running 4 servers+clients (GPUS=0,0,0,0). Wraps eval_groot15_exact_replay.sh with
# local env overrides. Args via env: MODEL_PATH (required), ROOT (output dir, required),
# CUDA_DEV (default 0), N_EPISODES (default 160).
set -uo pipefail
: "${MODEL_PATH:?set MODEL_PATH}"; : "${ROOT:?set ROOT (eval output dir)}"
CUDA_DEV="${CUDA_DEV:-0}"
EVAL_DIR=/sjw_alinlab/home/jonghoon/pose6daug/pose6daug-scripts/eval
MYGROOT=/sjw_alinlab/home/jonghoon/pose6daug/hf_model/myGR00T
BANK=/sjw_alinlab/home/jonghoon/pose6daug/eval_banks/transfer_actaug/actaug/eval/table2_exact160/bank_pnpcountertocab_mimicgen8_exact160_replay_policyseed12345_20260506

export MYGROOT_ROOT="$MYGROOT"
export MYGROOT_PY="$HOME/miniconda3/envs/mygr00t/bin/python"
export ROBOCASA_PY="$HOME/miniconda3/envs/robocasa/bin/python"
export ROBOCASA_ROOT="" ROBOSUITE_ROOT=""      # robocasa env already has robocasa/robosuite importable
export EVAL_CLIENT="$EVAL_DIR/eval_robocasa_replay_state_grasp.py"
export REPLAY_STATE_ROOT="$BANK"
export N_EPISODES="${N_EPISODES:-160}" EXPECTED_REPLAY_STATES="${EXPECTED_REPLAY_STATES:-$N_EPISODES}"
export POLICY_SEED="${POLICY_SEED:-12345}" SEED_BASE="${SEED_BASE:-42}" ACTION_HORIZON="${ACTION_HORIZON:-16}"
export ENV_NAME=PickPlaceCounterToCabinet EVAL_TASK=PnPCounterToCab
export GPUS="${CUDA_DEV},${CUDA_DEV},${CUDA_DEV},${CUDA_DEV}"   # 4 workers on ONE gpu
export GENERATIVE_TEXTURES="${GENERATIVE_TEXTURES:-0}"          # off: avoids capture-machine /lp-dev texture paths; real scene comes from recorded XML
export MODEL_PATH ROOT
export MUJOCO_GL=egl PYOPENGL_PLATFORM=egl MUJOCO_EGL_DEVICE_ID=0 HF_HUB_OFFLINE=1 TOKENIZERS_PARALLELISM=false
mkdir -p "$ROOT"
cd "$EVAL_DIR"
exec bash eval_groot15_exact_replay.sh