#!/usr/bin/env python3
"""Fetch the G1 Inspire 5-finger USD and make it spawnable as a floating base.

Isaac Lab's ``g1_29dof_inspire_hand.usd`` is authored for a *fixed-base*
manipulation setup and needs two independent fixes before SONIC can use it. Both
faults report the same unhelpful symptom -- ``Pattern '/World/Robot/root_joint'
did not match any articulations`` -- because each one prevents PhysX from
creating the articulation at all.

1. **Mimic joints.** The Inspire finger linkages are ``physxMimicJoint:*``
   properties (gearing -1.0 on the four fingers, -1.6 and -2.4 on the thumb).
   This PhysX build cannot resolve them and logs ``failed to find internal joint
   object for PhysxMimicJointAPI``. We strip all 60 properties, which leaves the
   six coupled joints per hand independently actuated.

2. **Fixed base.** ``PhysicsArticulationRootAPI`` is applied to ``root_joint``,
   a ``PhysicsFixedJoint`` anchoring the pelvis to the world. Spawning with
   ``fix_root_link=False`` disables that joint and takes the articulation root
   with it. Stock ``g1.usd`` instead puts the root API on ``/g1/pelvis`` with no
   root joint, so we match that: move the API and the ``physxArticulation:*``
   solver settings onto the pelvis and drop the fixed joint.

The asset is a thin variant wrapper over four ``configuration/`` layers and
everything we touch lives in the 19 KB physics layer, so the 39 MB mesh layer is
mirrored untouched.

    python scripts/fetch_inspire_hand.py [--force]
"""

from __future__ import annotations

import argparse
import urllib.request
from pathlib import Path

_ROOT = Path(__file__).resolve().parents[1]
_DEST = _ROOT / "assets" / "g1"
_BASE_URL = (
    "https://omniverse-content-production.s3-us-west-2.amazonaws.com"
    "/Assets/Isaac/6.0/Isaac/IsaacLab/Robots/Unitree/G1"
)
_WRAPPER = "g1_29dof_inspire_hand.usd"
_STEM = "g1_29dof_rev_1_0_with_inspire_hand_retarget_inspire_white"
_LAYERS = [f"{_STEM}_{k}.usd" for k in ("base", "physics", "robot", "sensor")]
_PHYSICS = f"{_STEM}_physics.usd"
_MARKER = "v2d_patch_version"
#: Bump when patch() changes, so an already-mirrored asset is re-patched.
_PATCH_VERSION = 2
_PRIM = "/g1_29dof_rev_1_0"


def _download(rel: str, dst: Path, force: bool) -> None:
    if dst.is_file() and not force:
        print(f"  have {rel} ({dst.stat().st_size:,} B)")
        return
    dst.parent.mkdir(parents=True, exist_ok=True)
    url = f"{_BASE_URL}/{rel}"
    with urllib.request.urlopen(url) as r, open(dst, "wb") as f:  # noqa: S310
        f.write(r.read())
    print(f"  fetched {rel} ({dst.stat().st_size:,} B)")


def _drop_api_schema(spec, name: str) -> bool:
    """Remove one applied API schema from a prim spec, preserving the list-op kind."""
    from pxr import Sdf

    if not spec.HasInfo("apiSchemas"):
        return False
    op = spec.GetInfo("apiSchemas")
    fields = ("explicitItems",) if op.isExplicit else ("prependedItems", "appendedItems", "addedItems")
    new = Sdf.TokenListOp()
    changed = False
    for field in fields:
        items = list(getattr(op, field))
        kept = [t for t in items if name not in t]
        changed |= len(kept) != len(items)
        setattr(new, field, kept)
    if changed:
        spec.SetInfo("apiSchemas", new)
    return changed


def _strip_mimic(layer) -> tuple[int, int]:
    """Drop the mimic properties *and* the now-orphaned API schema.

    Removing only the properties leaves ``PhysxMimicJointAPI`` applied with no
    ``referenceJoint``, so PhysX logs an error per joint per articulation on
    every run -- 48 lines for four environments -- which buries real errors.
    The joints end up independently actuated either way.
    """
    doomed: list = []
    prims: list = []

    def walk(spec) -> None:
        for prop in spec.properties:
            if "physxMimicJoint" in prop.name:
                doomed.append(prop.path)
        prims.append(spec)
        for child in spec.nameChildren:
            walk(child)

    for root in layer.rootPrims:
        walk(root)
    for path in doomed:
        del layer.GetPrimAtPath(path.GetPrimPath()).properties[path.name]
    n_api = sum(_drop_api_schema(spec, "PhysxMimicJointAPI") for spec in prims)
    return len(doomed), n_api


def _float_base(layer) -> bool:
    """Move the articulation root off the world-anchoring fixed joint."""
    from pxr import Sdf

    root_joint = layer.GetPrimAtPath(f"{_PRIM}/root_joint")
    pelvis = layer.GetPrimAtPath(f"{_PRIM}/pelvis")
    if root_joint is None or pelvis is None:
        return False

    for name in list(root_joint.properties.keys()):
        if name.startswith("physxArticulation:"):
            src = root_joint.properties[name]
            dst = Sdf.AttributeSpec(pelvis, name, src.typeName)
            dst.default = src.default

    existing = pelvis.GetInfo("apiSchemas").prependedItems if pelvis.HasInfo("apiSchemas") else []
    schemas = Sdf.TokenListOp()
    schemas.prependedItems = list(existing) + ["PhysicsArticulationRootAPI"]
    pelvis.SetInfo("apiSchemas", schemas)

    del layer.GetPrimAtPath(_PRIM).nameChildren["root_joint"]
    return True


def patch(layer_path: Path) -> tuple[int, int, bool]:
    """Strip mimic joints and float the base, in place. Idempotent."""
    from pxr import Sdf

    layer = Sdf.Layer.FindOrOpen(str(layer_path))
    if layer is None:
        raise SystemExit(f"cannot open {layer_path}")
    if layer.customLayerData.get(_MARKER, 0) >= _PATCH_VERSION:
        print(f"  physics layer already patched (v{_PATCH_VERSION})")
        return 0, 0, False

    n_prop, n_api = _strip_mimic(layer)
    floated = _float_base(layer)

    data = dict(layer.customLayerData)
    data[_MARKER] = _PATCH_VERSION
    layer.customLayerData = data
    layer.Save()
    return n_prop, n_api, floated


def main() -> int:
    ap = argparse.ArgumentParser()
    ap.add_argument("--force", action="store_true", help="re-download even if present")
    args = ap.parse_args()

    print(f"mirroring Inspire hand USD into {_DEST}")
    _download(_WRAPPER, _DEST / _WRAPPER, args.force)
    for name in _LAYERS:
        _download(f"configuration/{name}", _DEST / "configuration" / name, args.force)

    n_prop, n_api, floated = patch(_DEST / "configuration" / _PHYSICS)
    if n_prop:
        print(f"  stripped {n_prop} mimic properties")
    if n_api:
        print(f"  removed PhysxMimicJointAPI from {n_api} prims")
    if floated:
        print("  moved articulation root onto pelvis, removed root_joint")

    from pxr import Usd

    stage = Usd.Stage.Open(str(_DEST / _WRAPPER))
    left = [
        p.GetPath().pathString
        for p in stage.Traverse()
        if any("physxMimicJoint" in a.GetName() for a in p.GetAttributes())
    ]
    # An applied-but-empty API is what makes PhysX log an error per joint.
    left_api = [
        p.GetPath().pathString
        for p in stage.Traverse()
        if any("PhysxMimicJointAPI" in s for s in p.GetAppliedSchemas())
    ]
    fingers = [
        p.GetName()
        for p in stage.Traverse()
        if p.GetName().startswith(("L_", "R_")) and p.GetName().endswith("_joint")
    ]
    roots = [
        (p.GetPath().pathString, str(p.GetTypeName()))
        for p in stage.Traverse()
        if "PhysicsArticulationRootAPI" in p.GetAppliedSchemas()
    ]
    print()
    print(f"  mimic properties remaining : {len(left)}   (want 0)")
    print(f"  mimic API still applied    : {len(left_api)}   (want 0)")
    print(f"  finger joints              : {len(fingers)}  (want 24)")
    print(f"  articulation root          : {roots}")
    print(f"  root_joint present         : {bool(stage.GetPrimAtPath(_PRIM + '/root_joint'))}  (want False)")

    ok = (
        not left
        and not left_api
        and len(fingers) == 24
        and len(roots) == 1
        and roots[0][1] == "Xform"
    )
    print(f"\n{'OK' if ok else 'NOT OK'}: {_DEST / _WRAPPER}")
    return 0 if ok else 1


if __name__ == "__main__":
    raise SystemExit(main())