"""Per-episode domain randomisation of a compiled model, from phase2_config.toml.

Every episode starts again from the nominal values stored at construction, so
ranges never compound. Only model arrays change; the scene file is untouched.

Layout: the board (turned half a turn when the robot plays white, at a random angle
and position) and the tray (either side, at a random angle) are redrawn until every
square centre and the tray's drop area are within the arm's reach and nothing
overlaps the deck or each other. The table then slides anywhere that still holds all
of them, so the board is sometimes near an edge or a corner with the floor in view.
Look: one to four of six lamps (kind, place, colour temperature, brightness, shadows),
table, floor, wall, board, piece, arm, deck and tray colours, and everyday clutter and
cables around the board. Cameras: the overhead camera anywhere a person could mount
it (place_overhead, called once the arm is at rest); the rover and wrist cameras only
move as much as remounting them would. Physics: piece mass and friction.
"""
from __future__ import annotations

import mujoco
import numpy as np

import scene_environment as env
from chess_world import SQUARES, ChessWorld, quat_yaw
from overlay import Camera, project

# (light, dark) square colours for vinyl boards, and piece colour pairs (white, black).
VINYL_BOARDS = [((0.93, 0.92, 0.84), (0.30, 0.52, 0.33)), ((0.94, 0.90, 0.80), (0.45, 0.30, 0.20)),
                ((0.95, 0.95, 0.93), (0.20, 0.35, 0.55)), ((0.90, 0.86, 0.74), (0.55, 0.40, 0.25)),
                ((0.96, 0.96, 0.96), (0.35, 0.35, 0.37))]
PIECE_COLOURS = [((0.93, 0.88, 0.76), (0.14, 0.11, 0.09)), ((0.95, 0.94, 0.92), (0.08, 0.08, 0.08)),
                 ((0.86, 0.72, 0.52), (0.30, 0.17, 0.10)), ((0.97, 0.93, 0.83), (0.45, 0.12, 0.10)),
                 ((0.90, 0.80, 0.62), (0.20, 0.14, 0.12))]
TABLE_FLAT = [(0.92, 0.92, 0.90), (0.55, 0.55, 0.57), (0.25, 0.25, 0.27), (0.80, 0.74, 0.64),
              (0.96, 0.95, 0.93), (0.35, 0.22, 0.14)]
# Printed-part colours of the arm (the owner's arm is white) and how often each is drawn.
ARM_COLOURS = {"white": (0.92, 0.92, 0.90), "ivory": (0.95, 0.92, 0.84), "yellow": (0.88, 0.67, 0.13),
               "orange": (0.95, 0.45, 0.10), "black": (0.10, 0.10, 0.11), "grey": (0.52, 0.53, 0.55),
               "red": (0.75, 0.12, 0.10), "blue": (0.15, 0.32, 0.72), "green": (0.20, 0.55, 0.28)}
ARM_WEIGHTS = np.array([0.30, 0.10, 0.12, 0.08, 0.12, 0.08, 0.07, 0.07, 0.06])
PRINTED_RGBA = (0.88, 0.67, 0.13)              # the printed-part colour in the scene file
FLOORS = ("oak_tex", "pale_wood_tex", "dark_wood_tex", "tile_tex", "carpet_tex", "concrete_tex", None)
LAMPS = ("window_key", "ceiling_fill", "ceiling_2", "desk_lamp", "sun", "fill_2")
# Clutter: footprint half extents in the body frame, footprint centre offset (y), tall?
CLUTTER = {"laptop": (0.155, 0.145, 0.036, True), "phone": (0.074, 0.036, 0.0, False),
           "mug": (0.07, 0.047, 0.0, True), "notebook": (0.105, 0.075, 0.0, False),
           "pen": (0.075, 0.006, 0.0, False)}
OLD_CABLES = ("arm_power_", "mains_cable_", "power_brick")   # fixed cables of the nominal scene


def _small_rotation(rng, deg):
    axis = rng.normal(size=3)
    axis /= np.linalg.norm(axis)
    angle = np.radians(rng.uniform(-deg, deg))
    return np.r_[np.cos(angle / 2), np.sin(angle / 2) * axis]


def _quat_mul(a, b):
    out = np.zeros(4)
    mujoco.mju_mulQuat(out, a, b)
    return out


def kelvin_rgb(k: float) -> np.ndarray:
    """Approximate sRGB colour of a black body at `k` kelvin, brightest channel 1."""
    t = k / 100
    r = 1.0 if t <= 66 else 1.292936 * (t - 60) ** -0.1332047
    g = 0.3900816 * np.log(t) - 0.6318414 if t <= 66 else 1.129891 * (t - 60) ** -0.0755148
    b = 1.0 if t >= 66 else (0.0 if t <= 19 else 0.5432068 * np.log(t - 10) - 1.1962541)
    rgb = np.clip([r, g, b], 0, 1)
    return rgb / rgb.max()


# ---------------------------------------------------------------------- 2D rectangles
def rect(cx, cy, hx, hy, yaw=0.0) -> np.ndarray:
    c, s = np.cos(yaw), np.sin(yaw)
    local = np.array([[-hx, -hy], [hx, -hy], [hx, hy], [-hx, hy]])
    return local @ np.array([[c, s], [-s, c]]) + [cx, cy]


def gap(a: np.ndarray, b: np.ndarray) -> float:
    """Separation of two convex polygons along their edge normals: a lower bound on
    their distance (negative when they overlap)."""
    best = -np.inf
    for poly in (a, b):
        for i in range(len(poly)):
            e = poly[(i + 1) % len(poly)] - poly[i]
            n = np.array([-e[1], e[0]]) / np.linalg.norm(e)
            pa, pb = a @ n, b @ n
            best = max(best, pb.min() - pa.max(), pa.min() - pb.max())
    return best


def inside(poly: np.ndarray, p, grow=0.0) -> bool:
    return gap(poly, np.array([p, p + [1e-6, 0], p + [0, 1e-6]])) < grow


class Randomizer:
    def __init__(self, m: mujoco.MjModel, world: ChessWorld, cfg: dict):
        self.m, self.world, self.cfg = m, world, cfg
        name = lambda i: m.geom(i).name
        # Hidden for good in phase 2: the overhead camera's mast (the camera moves anywhere)
        # and the nominal scene's fixed cables (replaced by randomised ones).
        mast = m.body("camera_mast").id
        for i in range(m.ngeom):
            if m.geom_bodyid[i] == mast or name(i).startswith(OLD_CABLES):
                m.geom_group[i] = 5
                m.geom_contype[i] = m.geom_conaffinity[i] = 0
        self.nominal = {k: getattr(m, k).copy() for k in (
            "mat_rgba", "mat_texid", "mat_specular", "mat_shininess", "geom_rgba", "geom_friction",
            "geom_group", "geom_pos", "geom_quat", "geom_size", "body_mass", "body_inertia", "body_pos",
            "body_quat", "light_pos", "light_dir", "light_diffuse", "light_specular", "light_ambient",
            "light_castshadow", "light_cutoff", "cam_pos", "cam_quat", "cam_fovy")}
        self.square_geoms = {"light": [], "dark": []}
        for i in range(m.ngeom):
            if name(i).startswith("sq_"):
                mat = m.material(m.geom_matid[i]).name
                self.square_geoms["dark" if mat == "dark_square_mat" else "light"].append(i)
        self.piece_visual = {c: [m.geom(f"{n}_visual").id for n in world.pieces if world.color[n] == c]
                             for c in "wb"}
        self.piece_collision = [i for i in range(m.ngeom)
                                if m.geom_bodyid[i] in world.body.values() and m.geom_group[i] == 3]
        hand = {m.body(b).id for b in ("gripper", "moving_jaw_so101_v1")}
        self.jaw_geoms = [i for i in range(m.ngeom) if m.geom_bodyid[i] in hand and m.geom_group[i] == 3]
        self.board_geoms = [i for i in range(m.ngeom) if m.geom_bodyid[i] == world.board and m.geom_contype[i]]
        self.textures = {m.texture(i).name: i for i in range(m.ntex)}
        self.mat = {m.material(i).name: i for i in range(m.nmat)}
        self.printed = [i for i in range(m.nmat) if np.allclose(m.mat_rgba[i, :3], PRINTED_RGBA)]
        self.cams = {n: m.camera(n).id for n in ("overhead", "rover", "wrist")}
        self.lights = {n: m.light(n).id for n in LAMPS}
        self.clutter = {k: m.body(f"clutter_{k}").id for k in CLUTTER}
        self.clutter_geoms = {k: [i for i in range(m.ngeom) if m.geom_bodyid[i] == b] for k, b in self.clutter.items()}
        self.cables = [[m.geom(f"cable_{k}_{i}").id for i in range(env.CABLE_SEGMENTS)] for k in range(env.CABLES)]
        root = m.body("base").id
        self.arm_bodies = set()
        for b in range(m.nbody):
            a = b
            while a > 0 and a != root:
                a = m.body_parentid[a]
            if a == root:
                self.arm_bodies.add(b)
        dk = mujoco.MjData(m)
        mujoco.mj_kinematics(m, dk)
        self.pan_xy = dk.xanchor[m.joint("shoulder_pan").id][:2].copy()
        self.board_half = float(m.geom_size[m.geom("board_border").id][0])     # playing area plus border
        self.deck = rect(env.DECK_CX, 0.0, env.DECK_HX, env.DECK_HALF_Y)

    # ------------------------------------------------------------------ per episode
    def apply(self, rng: np.random.Generator) -> dict:
        m = self.m
        for k, v in self.nominal.items():
            getattr(m, k)[:] = v
        info = {}
        self._layout(rng, info)
        self._table(rng, info)
        self._look(rng, info)
        self._lights(rng, info)
        self._clutter(rng, info)
        self._robot_cameras(rng, info)
        self._physics(rng, info)
        return info

    def _layout(self, rng, info):
        m, w, b, t = self.m, self.world, self.cfg["board"], self.cfg["tray"]
        white = bool(rng.random() < b["robot_plays_white_probability"])
        local = np.array([w.square_local[s][:2] for s in SQUARES])
        h = self.board_half
        # Each miss narrows the ranges, ending square and flush against the deck, which
        # sample_layout guarantees is in reach: large boards end up nearly square to the
        # robot (as they must be in reality), small ones use the full ranges.
        for attempt in range(500):
            k = max(0.0, 1 - attempt / 300)
            yaw = (np.pi if white else 0.0) + np.radians(k * rng.uniform(*b["yaw_deg"]))
            corners = rect(0, 0, h, h, yaw)
            cx = env.DECK_FRONT + b["deck_gap_m"] - corners[:, 0].min() + k * rng.uniform(*b["offset_x"])
            cy = k * rng.uniform(*b["offset_y"])
            c, s = np.cos(yaw), np.sin(yaw)
            centres = local @ np.array([[c, s], [-s, c]]) + [cx, cy]
            if np.linalg.norm(centres - self.pan_xy, axis=1).max() <= b["reach_m"]:
                break
        else:
            raise RuntimeError("no reachable board pose")
        m.body_pos[w.board] = [cx, cy, 0.0]
        m.body_quat[w.board] = quat_yaw(yaw)
        self.board_poly = rect(cx, cy, h, h, yaw)
        hx, hy = w.bin_half + 0.002
        drop = w.bin_half - 0.014                         # where the expert releases pieces
        first = 1.0 if rng.random() < t["left_probability"] else -1.0
        for attempt in range(600):
            side = first if attempt < 400 else -first      # the other side only if this one has no room
            az = side * np.radians(rng.uniform(*t["azimuth_deg"]))
            p = self.pan_xy + rng.uniform(*t["radius_m"]) * np.array([np.cos(az), np.sin(az)])
            tyaw = np.radians(rng.uniform(*t["yaw_deg"]))
            poly = rect(*p, hx, hy, tyaw)
            if gap(poly, self.board_poly) < t["board_gap_m"] or gap(poly, self.deck) < t["deck_gap_m"]:
                continue
            # The rover camera stalk and housing stand on the deck's front-right corner:
            # a tray tucked in beside them leaves the forearm no way past.
            if np.linalg.norm(p - env.ROVER_CAMERA_POS[:2]) < t["rover_camera_clearance_m"]:
                continue
            if np.linalg.norm(rect(*p, *drop, tyaw) - self.pan_xy, axis=1).max() <= t["reach_m"]:
                break
        else:
            raise RuntimeError("no reachable tray pose")
        m.body_pos[w.bin] = [p[0], p[1], 0.0]
        m.body_quat[w.bin] = quat_yaw(tyaw)
        self.tray_poly = poly
        info["board"] = dict(robot_plays="white" if white else "black", centre_m=[round(cx, 4), round(cy, 4)],
                             yaw_deg=round(float(np.degrees(yaw)), 2))
        info["tray"] = dict(side="left" if side > 0 else "right", centre_m=[round(float(p[0]), 4), round(float(p[1]), 4)],
                            yaw_deg=round(float(np.degrees(tyaw)), 2))

    def _table(self, rng, info):
        """Slide the table anywhere that keeps the deck, board and tray on it, U-shaped
        towards the limits so edges and corners (with the floor in view) come up often."""
        tb = self.cfg["table"]
        if "fixed_offset" in tb:
            dx, dy = tb["fixed_offset"]
            (cx, cy), (hx, hy) = env.TABLE_CENTER[:2], env.TABLE_HALF[:2]
            self.m.body_pos[self.world.table] = self.world.nominal_table_pos + [dx, dy, 0]
            self.table_poly = rect(cx + dx, cy + dy, hx, hy)
            info["table_offset_m"] = [dx, dy]
            return
        pts = np.vstack([self.deck, self.board_poly, self.tray_poly])
        lo, hi = pts.min(0) - tb["margin_m"], pts.max(0) + tb["margin_m"]
        (cx, cy), (hx, hy) = env.TABLE_CENTER[:2], env.TABLE_HALF[:2]
        dx_lo, dx_hi = max(hi[0] - (cx + hx), tb["back_edge_min_x"] - (cx - hx)), lo[0] - (cx - hx)
        dy_lo, dy_hi = hi[1] - (cy + hy), lo[1] - (cy - hy)
        dx = dx_lo + (dx_hi - dx_lo) * rng.beta(*tb["edge_bias"]) if dx_hi > dx_lo else 0.0
        dy = dy_lo + (dy_hi - dy_lo) * rng.beta(*tb["edge_bias"]) if dy_hi > dy_lo else 0.0
        self.m.body_pos[self.world.table] = self.world.nominal_table_pos + [dx, dy, 0]
        self.table_poly = rect(cx + dx, cy + dy, hx, hy)
        info["table_offset_m"] = [round(float(dx), 3), round(float(dy), 3)]

    def _pieces_and_arm(self, rng, info, a):
        m = self.m
        if a.get("piece_colours") == "black_white":
            white, black = PIECE_COLOURS[1]
        else:
            white, black = PIECE_COLOURS[rng.integers(len(PIECE_COLOURS))]
        for col, rgb in (("w", white), ("b", black)):
            m.geom_rgba[self.piece_visual[col], :3] = np.clip(np.array(rgb) * (1 + rng.uniform(-0.06, 0.06, 3)), 0, 1)
        names = a.get("arm_colours", list(ARM_COLOURS))
        weights = np.array([ARM_WEIGHTS[list(ARM_COLOURS).index(n)] for n in names])
        first = names[rng.choice(len(names), p=weights / weights.sum())]
        colours = {i: first for i in self.printed}
        if len(names) > 1 and rng.random() < a["two_tone_arm_probability"]:
            second = names[rng.integers(len(names))]
            for i in rng.choice(self.printed, size=len(self.printed) // 2, replace=False):
                colours[i] = second
        for i, c in colours.items():
            m.mat_rgba[i, :3] = np.clip(np.array(ARM_COLOURS[c]) * (1 + rng.uniform(-0.04, 0.04, 3)), 0, 1)
        info["arm_colour"] = first

    def _look(self, rng, info):
        m, a = self.m, self.cfg["appearance"]
        if a.get("fixed_look"):
            # Nominal board, table, floor, walls, deck and tray; only pieces and arm as configured.
            self._pieces_and_arm(rng, info, a)
            info.update(board_look="nominal", table_look="nominal", floor="nominal")
            return
        tex_rgb = mujoco.mjtTextureRole.mjTEXROLE_RGB
        wood = [self.textures[t] for t in ("oak_tex", "pale_wood_tex", "dark_wood_tex")]
        light_mat, dark_mat = self.mat["light_square_mat"], self.mat["dark_square_mat"]
        if rng.random() < a["flat_board_probability"]:
            light, dark = VINYL_BOARDS[rng.integers(len(VINYL_BOARDS))]
            m.mat_texid[light_mat, tex_rgb] = -1
            m.mat_texid[dark_mat, tex_rgb] = -1
            info["board_look"] = "vinyl"
        else:
            m.mat_texid[light_mat, tex_rgb] = self.textures["pale_wood_tex"] if rng.random() < 0.8 else wood[0]
            m.mat_texid[dark_mat, tex_rgb] = self.textures["dark_wood_tex"] if rng.random() < 0.8 else wood[0]
            light = np.array((0.98, 0.97, 0.94)) * (1 + rng.uniform(-a["tint"], a["tint"] / 3, 3))
            dark = np.array((0.95, 0.93, 0.90)) * (1 + rng.uniform(-a["tint"] * 2, a["tint"] / 3, 3))
            info["board_look"] = "wood"
        for kind, colour in (("light", light), ("dark", dark)):
            m.geom_rgba[self.square_geoms[kind], :3] = np.clip(colour, 0, 1)
        m.mat_rgba[self.mat["border_mat"], :3] *= 1 + rng.uniform(-a["tint"] * 2, a["tint"], 3)
        # Table: wood (pale laminate most often) or a flat colour, matte to glossy.
        table = self.mat["table_mat"]
        if rng.random() < 0.25:
            m.mat_texid[table, tex_rgb] = -1
            m.mat_rgba[table, :3] = TABLE_FLAT[rng.integers(len(TABLE_FLAT))]
            info["table_look"] = "flat"
        else:
            m.mat_texid[table, tex_rgb] = wood[rng.choice(3, p=[0.3, 0.5, 0.2])]
            m.mat_rgba[table, :3] = np.clip(1 + rng.uniform(-a["tint"] * 2, a["tint"], 3), 0, 1)
            info["table_look"] = "wood"
        m.mat_specular[table] = rng.uniform(*a["table_specular"])
        m.mat_shininess[table] = rng.uniform(*a["table_shininess"])
        # Floor and walls.
        floor = self.mat["floor_mat"]
        choice = FLOORS[rng.integers(len(FLOORS))]
        m.mat_texid[floor, tex_rgb] = -1 if choice is None else self.textures[choice]
        base = rng.uniform(0.25, 0.9, 3) if choice in (None, "carpet_tex", "tile_tex") else np.ones(3)
        m.mat_rgba[floor, :3] = np.clip(base * (1 + rng.uniform(-0.1, 0.1, 3)), 0, 1)
        info["floor"] = (choice or "flat").replace("_tex", "")
        m.mat_rgba[self.mat["wall_mat"], :3] = np.clip(rng.uniform(0.6, 0.97) * (1 + rng.uniform(-0.06, 0.06, 3)), 0, 1)
        # Pieces and arm (printed parts in one colour, sometimes two), then the deck and tray.
        self._pieces_and_arm(rng, info, a)
        m.mat_rgba[self.mat["case_mat"], :3] = rng.uniform(0.05, 0.85) * (1 + rng.uniform(-0.1, 0.1, 3))
        m.mat_rgba[self.mat["bin_mat"], :3] = rng.uniform(0.1, 0.85, 3)
        m.mat_rgba[self.mat["felt"], :3] = rng.uniform(0.05, 0.6, 3)
        m.mat_rgba[:] = np.clip(m.mat_rgba, 0, 1)

    def _lights(self, rng, info):
        m, L = self.m, self.cfg["lighting"]
        if L.get("fixed"):
            info["lights"] = dict(key="nominal", on=["window_key", "ceiling_fill"], ambient=0.55)
            return                                         # the scene's own window and ceiling lights
        for i in self.lights.values():
            m.light_diffuse[i] = m.light_specular[i] = 0
            m.light_castshadow[i] = 0
        centre = np.r_[m.body_pos[self.world.board][:2], self.world.board_top]
        kinds = list(L["key_weights"])
        key = kinds[rng.choice(len(kinds), p=np.array(list(L["key_weights"].values())) / sum(L["key_weights"].values()))]
        on = [key] + [n for n in LAMPS if n != key and rng.random() < L["extra_probability"]][:L["max_lights"] - 1]
        shadows = 0
        for n in on:
            i = self.lights[n]
            lo, hi = L["intensity"][n]
            colour = kelvin_rgb(rng.uniform(*(L["sun_k"] if n == "sun" else L["lamp_k"])))
            m.light_diffuse[i] = colour * rng.uniform(lo, hi)
            m.light_specular[i] = m.light_diffuse[i] * 0.3
            aim = centre + np.r_[rng.normal(0, 0.08, 2), 0]
            if n == "sun":
                el, az = np.radians(rng.uniform(*L["sun_elevation_deg"])), rng.uniform(0, 2 * np.pi)
                m.light_dir[i] = -np.array([np.cos(el) * np.cos(az), np.cos(el) * np.sin(az), np.sin(el)])
            else:
                if n.startswith("ceiling"):
                    pos = centre + np.r_[rng.uniform(-0.8, 0.8, 2), rng.uniform(*L["ceiling_height_m"])]
                    aim = pos - [0, 0, 1] + np.r_[rng.normal(0, 0.25, 2), 0]
                else:
                    near = n == "desk_lamp"
                    dist = rng.uniform(*(L["desk_lamp_distance_m"] if near else L["window_distance_m"]))
                    az = rng.uniform(0, 2 * np.pi)
                    height = rng.uniform(*(L["desk_lamp_height_m"] if near else L["window_height_m"]))
                    pos = centre + np.r_[dist * np.cos(az), dist * np.sin(az), height]
                m.light_pos[i] = pos
                d = aim - pos
                m.light_dir[i] = d / np.linalg.norm(d)
                m.light_cutoff[i] = rng.uniform(*L["cutoff_deg"][n])
            if n != "fill_2" and (n == key or (shadows < L["max_shadows"] and rng.random() < 0.3)):
                m.light_castshadow[i] = 1
                shadows += 1
        amb = self.m.light("room_bounce").id
        m.light_ambient[amb] = kelvin_rgb(rng.uniform(*L["lamp_k"])) * rng.uniform(*L["ambient"])
        info["lights"] = dict(key=key, on=on, ambient=round(float(m.light_ambient[amb].max()), 3))

    def _clutter(self, rng, info):
        m, cl = self.m, self.cfg["clutter"]
        keep = [self.deck, self.board_poly, self.tray_poly]
        table = self.table_poly
        placed, present = [], []
        for k, (hx, hy, oy, tall) in CLUTTER.items():
            if rng.random() >= cl["probability"][k]:
                continue
            for _ in range(40):
                yaw = rng.uniform(0, 2 * np.pi)
                c, s = np.cos(yaw), np.sin(yaw)
                lo, hi = table.min(0) + 0.02, table.max(0) - 0.02
                pos = rng.uniform(lo, hi)
                centre = pos + [-s * oy, c * oy]
                poly = rect(*centre, hx, hy, yaw)
                if any(not inside(table, q, -0.005) for q in poly):
                    continue
                if min(gap(poly, p) for p in keep + placed) < cl["keep_out_m"]:
                    continue
                if tall and np.linalg.norm(centre - self.pan_xy) < cl["tall_min_reach_m"] and centre[0] > env.DECK_BACK - 0.03:
                    continue
                m.body_pos[self.clutter[k]] = [pos[0], pos[1], 0.0]
                m.body_quat[self.clutter[k]] = quat_yaw(yaw)
                m.geom_group[self.clutter_geoms[k]] = 1
                placed.append(poly)
                present.append(k)
                break
        for mat in ("device_mat", "device2_mat", "mug_mat", "notebook_mat", "pen_mat"):
            m.mat_rgba[self.mat[mat], :3] = rng.uniform(0.05, 0.9, 3) if mat != "device_mat" else rng.uniform(0.1, 0.8)
        cables = 0
        for k, segs in enumerate(self.cables):
            if rng.random() >= cl["cable_probability"][k]:
                continue
            pts = self._cable_path(rng, keep, from_deck=(k == 0 and rng.random() < 0.4))
            if len(pts) < 3:
                continue
            radius = rng.uniform(*cl["cable_radius_m"])
            m.mat_rgba[self.mat[f"cable_mat_{k}"], :3] = (0.03, 0.03, 0.035) if rng.random() < 0.7 else rng.uniform(0.3, 0.95)
            for g, (a, b) in zip(segs, zip(pts[:-1], pts[1:])):
                a3, b3 = np.r_[a, radius], np.r_[b, radius]
                v = b3 - a3
                length = np.linalg.norm(v)
                q = np.zeros(4)
                mujoco.mju_quatZ2Vec(q, v / length)
                m.geom_pos[g] = (a3 + b3) / 2
                m.geom_quat[g] = q
                m.geom_size[g, :2] = [radius, length / 2]
                m.geom_group[g] = 1
            cables += 1
        info["clutter"] = present + [f"cable x{cables}"] * bool(cables)

    def _cable_path(self, rng, keep, from_deck):
        """A cable lying on the table: a smooth random walk from a table edge (or from the
        deck's power socket) that stops at an edge and steps around the deck, board and tray."""
        cl, table = self.cfg["clutter"], self.table_poly
        n = env.CABLE_SEGMENTS
        step = rng.uniform(*cl["cable_length_m"]) / n
        lo, hi = table.min(0), table.max(0)
        if from_deck:
            start, heading = np.array([env.DECK_BACK - 0.005, rng.uniform(-0.06, 0.06)]), np.pi + rng.normal(0, 0.4)
        else:
            edge = rng.integers(4)
            u = rng.uniform(0.1, 0.9)
            along_x, along_y = lo[0] + u * (hi[0] - lo[0]), lo[1] + u * (hi[1] - lo[1])
            start = np.array([(along_x, lo[1] + 0.006), (along_x, hi[1] - 0.006),
                              (lo[0] + 0.006, along_y), (hi[0] - 0.006, along_y)][edge])
            heading = [np.pi / 2, -np.pi / 2, 0.0, np.pi][edge] + rng.uniform(-1.0, 1.0)
        pts = [start]
        for i in range(n):
            for attempt in range(8):
                h = heading + rng.normal(0, 0.3 + 0.25 * attempt)
                nxt = pts[-1] + step * np.array([np.cos(h), np.sin(h)])
                if not inside(table, nxt, -0.003):
                    return pts
                if any(inside(p, nxt, 0.012) for p in keep) and not (from_deck and i < 1):
                    continue
                pts.append(nxt)
                heading = h
                break
            else:
                break
        return pts

    def _robot_cameras(self, rng, info):
        """Rover and wrist cameras sit on the robot: only remounting errors."""
        m, c = self.m, self.cfg["cameras"]
        for name in ("rover", "wrist"):
            cid = self.cams[name]
            jitter = rng.uniform(-c[f"{name}_pos_jitter"], c[f"{name}_pos_jitter"], 3)
            # Each lens sits at the front face of its housing: 1 mm back puts the camera
            # inside it and the image goes black (38% of wrist views in the first pilot).
            # A backward component along the view direction is mirrored forward.
            view = np.zeros(3)
            mujoco.mju_rotVecQuat(view, np.array([0.0, 0.0, -1.0]), m.cam_quat[cid])
            back = jitter @ view
            if back < 0:
                jitter -= 2 * back * view
            m.cam_pos[cid] += jitter
            m.cam_quat[cid] = _quat_mul(m.cam_quat[cid], _small_rotation(rng, c[f"{name}_rot_jitter_deg"]))
            m.cam_fovy[cid] += rng.uniform(-c[f"{name}_fovy_jitter_deg"], c[f"{name}_fovy_jitter_deg"])

    def _physics(self, rng, info):
        m, p = self.m, self.cfg["physics"]
        for name in self.world.pieces:
            bid = self.world.body[name]
            f = rng.uniform(*p["mass_scale"])
            m.body_mass[bid] *= f
            m.body_inertia[bid] *= f
        mu = rng.uniform(*p["friction"])
        m.geom_friction[self.piece_collision, 0] = mu
        m.geom_friction[self.jaw_geoms, 0] = mu
        m.geom_friction[self.board_geoms, 0] = rng.uniform(*p["board_friction"])
        info["friction"] = round(float(mu), 3)

    # ------------------------------------------------------------------ overhead camera
    def place_overhead(self, d: mujoco.MjData, rng, info) -> None:
        """Put the overhead camera anywhere a person could mount it: 35-80 cm above the
        board, straight down to 45 degrees from vertical, from any side but behind the
        robot, with a common webcam lens. Redrawn until the whole board and the tray are
        in frame and the resting arm hides no square centre. `d` must hold the arm at rest
        with its kinematics computed."""
        m, w, c = self.m, self.world, self.cfg["cameras"]
        ds = self.cfg["dataset"]
        cid = self.cams["overhead"]
        W, H = ds["image_width"], ds["image_height"]
        centre = np.r_[m.body_pos[w.board][:2], w.board_top]
        board = np.c_[self.board_poly, np.full(4, w.board_top)]
        tray = w.bin_corners()
        squares = np.array([w.square_center(s) for s in SQUARES]) + [0, 0, 0.001]
        group = np.array([1, 1, 1, 0, 0, 0], np.uint8)
        hit = np.zeros(1, np.int32)
        margin = c["overhead_margin"]
        for _ in range(80):
            height = rng.uniform(*c["overhead_height_m"])
            tilt = np.radians(rng.uniform(*c["overhead_tilt_deg"]))
            az = np.radians(rng.uniform(*c["overhead_azimuth_deg"]))
            roll = np.radians(rng.uniform(*c["overhead_roll_deg"]))
            fovy = rng.uniform(*c["overhead_fovy_deg"])
            target = centre + np.r_[rng.normal(0, c["overhead_target_jitter_m"], 2), 0]
            away = np.array([np.sin(tilt) * np.cos(az), np.sin(tilt) * np.sin(az), np.cos(tilt)])
            pos = target + away * height / np.cos(tilt)
            if pos[0] < -0.7 or abs(pos[1]) > 1.1:
                continue
            f = (target - pos) / np.linalg.norm(target - pos)
            up_hint = -np.array([np.cos(az), np.sin(az), 0.0])      # image top toward the far side
            right = np.cross(f, up_hint)
            right /= np.linalg.norm(right)
            up = np.cross(right, f)
            right, up = np.cos(roll) * right + np.sin(roll) * up, -np.sin(roll) * right + np.cos(roll) * up
            R = np.column_stack([right, up, -f])
            cam = Camera(pos, R, fovy, W, H)
            ok = True
            for poly in (board, tray):
                if np.any((poly - pos) @ R[:, 2] >= 0):         # behind the camera
                    ok = False
                    break
                px = project(cam, poly)
                if px is None or len(px) != len(poly) or np.any(px[:, 0] < margin * W) or np.any(px[:, 0] > (1 - margin) * W) \
                        or np.any(px[:, 1] < margin * H) or np.any(px[:, 1] > (1 - margin) * H):
                    ok = False
                    break
            if not ok:
                continue
            hidden = 0
            for s in squares:
                dist = mujoco.mj_ray(m, d, pos, s - pos, group, 1, -1, hit)
                if 0 <= dist < 0.995 and m.geom_bodyid[hit[0]] in self.arm_bodies:
                    hidden += 1
                    break
            if hidden and not c.get("overhead_arm_may_hide"):
                continue
            q = np.zeros(4)
            mujoco.mju_mat2Quat(q, R.ravel())
            m.cam_pos[cid] = pos            # the camera's parent body sits at the world origin
            m.cam_quat[cid] = q
            m.cam_fovy[cid] = fovy
            info["overhead"] = dict(height_m=round(float(height), 3), tilt_deg=round(float(np.degrees(tilt)), 1),
                                    azimuth_deg=round(float(np.degrees(az)), 1), roll_deg=round(float(np.degrees(roll)), 1),
                                    fovy_deg=round(float(fovy), 1))
            return
        info["overhead"] = "nominal"