#!/usr/bin/env bash
# gr00t_views conversion, SAM3D textured mesh (USE_MESH_SWAP=1), one output per shard;
# merged afterwards. Each shard needs its own GEN_DIR or the glob would pick up the others.
set -u
N=/tmp/claude-1001/-home-nvidia/68c27ffb-706b-4cb3-8bf2-4618a200d378/scratchpad/natural256
B=/home/nvidia/minha/pose6daug/baseline/mimicgen
PY=/lp-dev/jonghoon/mimicgen_augment/envs/mimicgen/bin/python
GPUS=(0 2 3)
mkdir -p "$N/logs" "$B/gr00t_views/natural_shards"
i=0
for d in "$N"/gen/shard_*; do
    k=$(basename "$d")
    tgt=$(basename "$(ls -d "$d"/*/ | head -1)")
    g=${GPUS[$((i % ${#GPUS[@]}))]}
    MUJOCO_GL=egl PYOPENGL_PLATFORM=egl MUJOCO_EGL_DEVICE_ID=$g \
    GEN_DIR="$d" DATASET_OUT="$B/gr00t_views/natural_shards/$k" USE_MESH_SWAP=1 \
    taskset -c 0-254 nohup "$PY" -u "$B/gr00t_build/render_to_gr00t.py" \
        > "$N/logs/conv_$k.log" 2>&1 &
    i=$((i+1))
done
wait
echo "[nat] convert done $(date -u +%FT%TZ)"