"""MANO and Unitree G1 five-finger IK maps (Inspire DFQ and Wuji).

Dex3 in NVIDIA robotic_grounding only has thumb/index/middle. Both Inspire and
Wuji add ring + pinky; the fingertip frames differ by USD.
"""

MANO_JOINTS_ORDER = [
    "wrist",
    "thumb1",
    "thumb2",
    "thumb3",
    "thumb4",
    "index1",
    "index2",
    "index3",
    "index4",
    "middle1",
    "middle2",
    "middle3",
    "middle4",
    "ring1",
    "ring2",
    "ring3",
    "ring4",
    "pinky1",
    "pinky2",
    "pinky3",
    "pinky4",
]

MANO_JOINTS_PARENTS = [
    -1,
    0, 1, 2, 3,
    0, 5, 6, 7,
    0, 9, 10, 11,
    0, 13, 14, 15,
    0, 17, 18, 19,
]

# Operational frames added in hand_kinematics (not raw CAD origins).
# Dex3 maps palm_link origin ≈ MANO wrist. Inspire `*_hand_base_link` origin is
# a CAD point ~14cm from the finger MCPs, so we IK `*_palm_ik` (MCP centroid)
# and `*_…_tip` (mesh far vertex), not the link origins.
# `.*` is replaced with L or R.
G1_INSPIRE_TO_MANO_MAPPING = {
    ".*_palm_ik": ("mcp_centroid", 1.0, 0.25),
    ".*_thumb_tip": ("thumb4", 1.0, 0.0),
    ".*_index_tip": ("index4", 1.0, 0.0),
    ".*_middle_tip": ("middle4", 1.0, 0.0),
    ".*_ring_tip": ("ring4", 1.0, 0.0),
    ".*_pinky_tip": ("pinky4", 1.0, 0.0),
}

# Wuji: finger1 is the thumb (CoordEx `RIGHT_HAND_TIP_NAMES[0]`), then index→pinky.
# `{side}` is replaced with left or right. Tip links already exist in the URDF.
G1_WUJI_TO_MANO_MAPPING = {
    "{side}_palm_ik": ("mcp_centroid", 1.0, 0.25),
    "{side}_finger1_tip_link": ("thumb4", 1.0, 0.0),
    "{side}_finger2_tip_link": ("index4", 1.0, 0.0),
    "{side}_finger3_tip_link": ("middle4", 1.0, 0.0),
    "{side}_finger4_tip_link": ("ring4", 1.0, 0.0),
    "{side}_finger5_tip_link": ("pinky4", 1.0, 0.0),
}

# MANO MCP joints used as the palm IK target (index/middle/ring/pinky).
MANO_MCP_JOINTS = ("index1", "middle1", "ring1", "pinky1")

DEFAULT_HAND = "wuji"


def retarget_npz_name(hand: str = DEFAULT_HAND) -> str:
    return f"g1_{hand}_retarget.npz"