#!/usr/bin/env bash
set -euo pipefail

REPO=/home/ubuntu/Documents/01Proj/13atec/ATEC2026_Simulation_Challenge
OPENPI=/home/ubuntu/src/openpi-ebench-clean
PY=/home/ubuntu/envs/openpi-pi05/bin/python
CONFIG=pi05_atec_task_e_native8_100demos_s1_224
REPO_ID=atec/task_e_obj321_servo_100demos_native8_s1_224
STAMP="$(date +%Y%m%d%H%M%S)"

export HF_LEROBOT_HOME=/data/Data4TB/01Proj/13atec/robotics_shared/datasets/lerobot
export HF_HOME=/data/Data4TB/01Proj/13atec/robotics_shared/hf_cache
export PYTHONPATH="$OPENPI/src:$OPENPI/packages/openpi-client/src"

cd "$REPO"
"$PY" scripts/pi05/convert_task_e_hdf5_to_lerobot_native8.py \
  --root "$HF_LEROBOT_HOME" \
  --repo_id "$REPO_ID" \
  --max_episodes 100 \
  --stride 1 \
  --fps 50 \
  --overwrite \
  2>&1 | tee "logs/pi05_native8_convert_100demos_s1_224_${STAMP}.log"

cd "$OPENPI"
"$PY" scripts/compute_norm_stats.py \
  --config-name "$CONFIG" \
  2>&1 | tee "$REPO/logs/pi05_native8_norm_100demos_s1_224_${STAMP}.log"

echo "[INFO] Prepared native8 100-demo dataset/norm stats for $CONFIG"