#!/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:-}"
python_bin="${PYTHON_BIN:-}"

if [[ -z "${python_bin}" ]]; then
    if [[ -n "${CONDA_PREFIX:-}" ]] && [[ -x "${CONDA_PREFIX}/bin/python" ]]; then
        python_bin="${CONDA_PREFIX}/bin/python"
    elif [[ -n "${VIRTUAL_ENV:-}" ]] && [[ -x "${VIRTUAL_ENV}/bin/python" ]]; then
        python_bin="${VIRTUAL_ENV}/bin/python"
    else
        python_bin="$(command -v python || true)"
    fi
fi

if [[ -z "${python_bin}" ]] || [[ ! -x "${python_bin}" ]]; then
    echo "Unable to resolve a usable Python interpreter. Set PYTHON_BIN explicitly." >&2
    exit 1
fi

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

    echo "============================================================"
    echo "Running ${case_script}"
    echo "============================================================"
    echo "Using Python: ${python_bin}"
    RUN_ANALYSIS="${run_analysis}" PYTHON_BIN="${python_bin}" bash "${repo_root}/${case_script}"
done