#!/usr/bin/env bash

set -euo pipefail

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

run_analysis="${RUN_ANALYSIS:-1}"
case_filter="${CASE_FILTER:-}"

case_scripts=(
    "unitree_z1_stackbox/case1/run_world_model_interaction.sh"
    "unitree_z1_stackbox/case2/run_world_model_interaction.sh"
    "unitree_z1_stackbox/case3/run_world_model_interaction.sh"
    "unitree_z1_stackbox/case4/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_stackbox_v2/case1/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh"
    "unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh"
    "unitree_g1_pack_camera/case1/run_world_model_interaction.sh"
    "unitree_g1_pack_camera/case2/run_world_model_interaction.sh"
    "unitree_g1_pack_camera/case3/run_world_model_interaction.sh"
    "unitree_g1_pack_camera/case4/run_world_model_interaction.sh"
)

for case_script in "${case_scripts[@]}"; do
    if [[ -n "${case_filter}" ]] && [[ "${case_script}" != *"${case_filter}"* ]]; then
        continue
    fi

    case_dir="$(dirname "${case_script}")"
    inference_dir="${repo_root}/${case_dir}/output/inference"

    echo "============================================================"
    echo "Running ${case_script}"
    echo "============================================================"
    bash "${repo_root}/${case_script}"

    if [[ "${run_analysis}" == "1" ]]; then
        if [[ -f "${inference_dir}/stepwise_log.csv" ]] && \
           [[ -f "${inference_dir}/sample_summary.csv" ]] && \
           [[ -f "${inference_dir}/round_summary.csv" ]]; then
            echo "Analyzing ${case_dir}"
            python3 "${repo_root}/scripts/evaluation/analyze_metrics.py" \
                --input_dir "${inference_dir}"
        else
            echo "Skipping analysis for ${case_dir}: missing analysis CSVs."
        fi
    fi
done