#!/usr/bin/env bash
# Preview mp4s, original RoboCasa asset, 3 cameras -- same layout as output_aug_256.
# taskset escapes this shell's 64-CPU affinity mask; EGL device round-robins over the
# three free GPUs (4-7 belong to another user's training).
set -u
N=/tmp/claude-1001/-home-nvidia/68c27ffb-706b-4cb3-8bf2-4618a200d378/scratchpad/natural256
S=/tmp/claude-1001/-home-nvidia/68c27ffb-706b-4cb3-8bf2-4618a200d378/scratchpad
MG=/lp-dev/jonghoon/mimicgen_augment/envs/mimicgen/bin/python
OUT=/home/nvidia/minha/pose6daug/baseline/mimicgen/output_natural_256
SHARDS=${SHARDS:-16}
GPUS=(0 2 3)
mkdir -p "$OUT" "$N/logs"
cd /home/nvidia/minha/pose6daug/baseline/mimicgen/mimicgen_augment || exit 1
for i in $(seq 0 $((SHARDS-1))); do
    g=${GPUS[$((i % ${#GPUS[@]}))]}
    MUJOCO_GL=egl PYOPENGL_PLATFORM=egl MUJOCO_EGL_DEVICE_ID=$g \
    taskset -c 0-254 nohup "$MG" -u render_from_plan.py \
        --plan "$N/render_plan.json" --source "$S/big/src150_fix.hdf5" \
        --filter-key valid --out "$OUT" --shard "$i" --num-shards "$SHARDS" \
        > "$N/logs/render_$i.log" 2>&1 &
done
wait
echo "[nat] render done $(date -u +%FT%TZ)"