#!/usr/bin/env bash
# 40-episode sample (5 per object) with stage logging. Two models in parallel, 2 GPUs each,
# staying off GPU 0/1 and leaving 2,3 to the running training.
set -u
M=/data/minha/pose6daug/train_robocasa/myGR00T
PY=/data/nvidia/gripper_augmentator/conda-envs/mygr00t/bin/python
RPY=/lp-dev/jonghoon/robocasa_calib/envs/robocasa/bin/python
PP=/lp-dev/jonghoon/robocasa_calib/repos/robosuite_robocasa_dev:/lp-dev/jonghoon/robocasa_calib/repos/robocasa:$M
RS=/lp-dev/jonghoon/isaac-gr00t/eval_results/pnpcountertocab_mimicgen8_exact160_replay_policyseed12345_20260506
OUT=/home/nvidia/minha/pose6daug/evals/results/grasp_sample40
EPS="0,1,2,3,4,20,21,22,23,24,40,41,42,43,44,60,61,62,63,64,80,81,82,83,84,100,101,102,103,104,120,121,122,123,124,140,141,142,143,144"

one () {  # tag, model, gpu, port
  local tag=$1 model=$2 gpu=$3 port=$4
  local d=$OUT/$tag; mkdir -p $d
  ( cd $M; PYTHONPATH=$M CUDA_VISIBLE_DEVICES=$gpu $PY scripts/inference_service.py       --server --port $port --model_path $model       --data_config single_panda_gripper --embodiment_tag new_embodiment --seed 12345   ) > $d/server.log 2>&1 &
  echo $! > $d/server.pid
  for i in $(seq 1 120); do
    python3 -c "import socket,sys;s=socket.socket();sys.exit(0 if s.connect_ex(('127.0.0.1',$port))==0 else 1)" && break
    sleep 5
  done
  echo "[grasp] $tag server ready $(date -u +%H:%M:%S)"
  PYTHONPATH=$PP CUDA_VISIBLE_DEVICES=$gpu $RPY $M/scripts/eval_robocasa_replay_state_grasp.py     --host 127.0.0.1 --port $port --model_path $model --output_dir $d     --env_name PickPlaceCounterToCabinet --eval_task PnPCounterToCab     --finetuned_task grasp-sample-$tag --replay_state_root $RS     --episode_indices "$EPS" --worker_id 00 --seed 42     --max_episode_steps 750 --action_horizon 16 --robots PandaOmron     --generative_textures --policy_seed 12345 > $d/client.log 2>&1
  echo "[grasp] $tag done $(date -u +%H:%M:%S)"
  kill $(cat $d/server.pid) 2>/dev/null
}

one mimicgen30k /data/minha/pose6daug/train_robocasa/runs/pnpcountertocab_mimicgen_natural_256_fixed_newemb_from60k_gbs64_30000steps_20260920_133919/checkpoint-30000 4 8851 &
sleep 10
one vace30k /data/minha/pose6daug/train_robocasa/runs/vace_batch64_30k_from_hf/checkpoint-30000 6 8861 &
wait
echo "[grasp] ALL DONE $(date -u +%H:%M:%S)"