#!/bin/bash
# Example usage — run the pose6daug GR00T-N1.5 policy on the REAL Franka EEF rig.
# This MOVES the physical arm. Have the e-stop in hand and the workspace clear.
#
#   bash run_example.sh
#
# Tactiles are NOT used in this deployment.
set -e

# --- paths -------------------------------------------------------------------
GR00T_CODE="/home/jimin/myGR00T"                       # the myGR00T package (PYTHONPATH)
GR00T_PY="/home/jimin/miniconda3/envs/gr00t/bin/python"
DEPLOY="$(dirname "$0")/deploy_franka_eef.py"

# checkpoint (weights-only). Pick a step: 5000 / 10000 / 15000 / 20000.
CKPT="/home/jimin/pose6daug-gr00t-iclr120-20k/checkpoint-20000"

# --- launch ------------------------------------------------------------------
# NOTE: do NOT pass --resize_video — this config's VideoToTensor expects native
# 720x1280 ZED frames and crops/resizes to 224 internally.
export PYTHONPATH="${GR00T_CODE}:${PYTHONPATH}"

exec -a franka_eef_infer \
"${GR00T_PY}" -u "${DEPLOY}" \
    --task "pick up the object and place it in the white basket" \
    --max_trans_per_step 0.03 \
    --embodiment_tag=new_embodiment \
    --data_config=droid_franka_eef_real \
    --action_space=cartesian_position \
    --left_camera_id=37149196 \
    --wrist_camera_id=11845904 \
    --inference_head=main \
    --denoising_steps=4 \
    --max-timesteps=1500 \
    --logging_path=/home/jimin/droid/rollout_results/pose6daug-iclr120-20k \
    policy:checkpoint \
    --policy.config=franka_real_eef \
    --policy.dir="${CKPT}"