#!/usr/bin/env bash
# S10 terrain-v7 safe all-terrain 50k training from the task preset.
# Set S10_RESUME to continue from a checkpoint; S10_VIDEO=0 disables video.
set -euo pipefail

PROJECT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
cd "$PROJECT_DIR"

export PYTHONPATH="$PROJECT_DIR"
export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
export MUJOCO_GL="${MUJOCO_GL:-egl}"

PY="${S10_PYTHON:-python}"
OUT="${S10_OUTPUT:-logs/s10_terrain_v7_50k_$(date +%Y%m%d_%H%M%S)}"
mkdir -p "$OUT"

args=(--task s10-v7 --iterations 50000 --output "$OUT")
if [[ -n "${S10_RESUME:-}" ]]; then
  args+=(--resume "$S10_RESUME")
fi
if [[ "${S10_VIDEO:-1}" != "0" ]]; then
  args+=(--video --video-length 500 --video-interval 2700)
fi

exec "$PY" scripts/train.py "${args[@]}" "$@"