#!/usr/bin/env bash
source "$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)/block_white_box_common.sh"
if [[ -z "${MODEL_DIR:-}" ]]; then
  echo "请设置 MODEL_DIR 为检查点的 pretrained_model 目录。" >&2; exit 1
fi
if [[ "${DRY_RUN:-0}" != 1 && ! -f "$MODEL_DIR/config.json" ]]; then
  echo "模型配置不存在：$MODEL_DIR/config.json" >&2; exit 1
fi
check_task_devices
echo "自主执行 ${DURATION:-30} 秒；按 Ctrl+C 停止。"
run_task lerobot-rollout --strategy.type=base "${ROBOT_ARGS[@]}" \
  "--policy.path=$MODEL_DIR" --policy.device=cuda "--task=$TASK_TEXT" \
  --fps=25 "--duration=${DURATION:-30}" --display_data=true "$@"