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

TASK=${TASK:-Rough-Deeprobotics-M20-v0}
CHECKPOINT=${1:-${CHECKPOINT:-}}
NUM_ENVS=${NUM_ENVS:-250}
DEVICE=${DEVICE:-cuda:0}
EVAL_TYPE=${EVAL_TYPE:-all}

if [[ -z "${CHECKPOINT}" ]]; then
  echo "Usage: $0 <checkpoint.pt>"
  echo "Or set CHECKPOINT=/path/to/model.pt"
  exit 1
fi

echo "Running eval_type=${EVAL_TYPE}"
python scripts/reinforcement_learning/rsl_rl/eval.py \
  --task="${TASK}" \
  --checkpoint="${CHECKPOINT}" \
  --num_envs="${NUM_ENVS}" \
  --device="${DEVICE}" \
  --eval_type="${EVAL_TYPE}" \
  --headless