SEG_ROOT="/home/cyx6123/DuodenoVLA/data/ACT/aloha/act/data/raw_data/01-cannulation"
OUT_DIR="/home/cyx6123/DuodenoVLA/data/ACT/aloha/act/data/cannulation"
SCRIPT="/home/cyx6123/DuodenoVLA/data/ACT/aloha/act/build_endoscope_act_dataset.py"

mkdir -p "$OUT_DIR"
i=12
for d in "$SEG_ROOT"/seg_*; do
  [ -d "$d" ] || continue
  echo "Building $d -> episode_$i"
  python "$SCRIPT" \
    --segment_dir "$d" \
    --output_dir "$OUT_DIR" \
    --episode_idx "$i" \
    --max_frames -1 \
    --camera_name top \
    --crop 733 30 1754 1051 \
    --resize 224 224 \
    --instruction_template 'Cannulate the {label} on the phantom located at the {region} with the sphincterotome.' \
    --instruction_empty 'No target visible.' \
    --stop_instruction 'Stop move.' \
    --motion_window 3 \
    --motion_threshold 0.05 \
    --state_norm minus1_1 \
    --action_norm minus1_1 \
    --encode_text_features \
    --text_model_name distilbert-base-uncased \
    --text_batch_size 32
  i=$((i+1))
done