#!/usr/bin/env bash

#!/usr/bin/env bash

ROOT_DIR="${1:-./benchmarks}"
OUTPUT_DIR="${ROOT_DIR}/isaaclab_non_rl"
TASKS="Isaac-Repose-Cube-Allegro-Direct-v0 Isaac-Ant-Direct-v0 Isaac-Cartpole-Direct-v0 Isaac-Humanoid-Direct-v0 Isaac-Ant-v0 Isaac-Cartpole-v0 Isaac-Humanoid-v0 Isaac-Velocity-Flat-Unitree-A1-v0 Isaac-Velocity-Flat-Anymal-B-v0 Isaac-Velocity-Flat-Anymal-C-v0 Isaac-Velocity-Flat-Anymal-D-v0 Isaac-Velocity-Flat-Cassie-v0 Isaac-Velocity-Flat-G1-v0 Isaac-Velocity-Flat-G1-v1 Isaac-Velocity-Flat-Unitree-Go1-v0 Isaac-Velocity-Flat-Unitree-Go2-v0 Isaac-Velocity-Flat-H1-v0 Isaac-Reach-Franka-v0 Isaac-Reach-UR10-v0"
NUM_ENVS="4096 8192 16384"
NUM_FRAMES="100"

for TASK in $TASKS; do
    for NUM_ENV in $NUM_ENVS; do
        if [[ $TASK == *"RGB-Camera"* ]] || [[ $TASK == *"Depth-Camera"* ]]; then
            ./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py --benchmark_backend omniperf --output_path "$OUTPUT_DIR" --task "$TASK" --num_envs "$NUM_ENV" --headless --num_frames "$NUM_FRAMES" --enable_cameras
        else
            ./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py --benchmark_backend omniperf --output_path "$OUTPUT_DIR" --task "$TASK" --num_envs "$NUM_ENV" --headless --num_frames "$NUM_FRAMES"
        fi
    done
done