#!/bin/bash

# Change robogauge/tasks/robots/go2/go2_moe_config.py `save_additional_output = True`
# Add change max velocity to only x=1m/s

source /root/Programs/miniforge3/bin/activate robot

# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_rem_cts_137k_0.6745.pt"
# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_moe_cts_111k_61.09%.pt"
# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_moe_cts_111k_61.09%.pt"
# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_rem_cts_103k_0.6357.pt"
# MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_cts_130k_60%.pt"
MODEL_PATH="/root/Coding/RoboGauge/mytest/go2_moe_cts_79k_0.6637.pt"

# python robogauge/scripts/run.py \
#     --task-name go2_moe \
#     --model-path /root/Coding/RoboGauge/mytest/go2_moe_cts_111k_61.09%.pt \
#     --experiment-name debug \
#     --stress-benchmark \
#     --stress-terrain-names flat slope_fd slope_bd stairs_fd stairs_bd wave obstacle \
#     --num-processes 35 \
#     --seeds 0 1 2 \
#     --search-seeds 0 1 2 3 4 \
#     --frictions 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 \
#     --compress-logs \
#     --headless

python robogauge/scripts/run.py \
    --task-name go2_moe.flat \
    --model-path ${MODEL_PATH} \
    --experiment-name latent \
    --seed 0 \
    --friction 0.6 \
    --goals max_velocity \
    --headless

python robogauge/scripts/run.py \
    --task-name go2_moe.obstacle \
    --level 5 \
    --model-path ${MODEL_PATH} \
    --experiment-name latent \
    --seed 0 \
    --friction 0.6 \
    --goals max_velocity \
    --headless

python robogauge/scripts/run.py \
    --task-name go2_moe.slope_bd \
    --level 5 \
    --model-path ${MODEL_PATH} \
    --experiment-name latent \
    --seed 0 \
    --friction 0.6 \
    --goals max_velocity \
    --headless

python robogauge/scripts/run.py \
    --task-name go2_moe.slope_fd \
    --level 5 \
    --model-path ${MODEL_PATH} \
    --experiment-name latent \
    --seed 0 \
    --friction 0.6 \
    --goals max_velocity \
    --headless

python robogauge/scripts/run.py \
    --task-name go2_moe.stairs_bd \
    --level 5 \
    --model-path ${MODEL_PATH} \
    --experiment-name latent \
    --seed 0 \
    --friction 0.6 \
    --goals max_velocity \
    --headless

python robogauge/scripts/run.py \
    --task-name go2_moe.stairs_fd \
    --level 5 \
    --model-path ${MODEL_PATH} \
    --experiment-name latent \
    --seed 0 \
    --friction 0.6 \
    --goals max_velocity \
    --headless

python robogauge/scripts/run.py \
    --task-name go2_moe.wave \
    --level 5 \
    --model-path ${MODEL_PATH} \
    --experiment-name latent \
    --seed 0 \
    --friction 0.6 \
    --goals max_velocity \
    --headless