"""SO-101 USD from newton-assets' robotstudio_so101, with the links of so101_new_calib_web.urdf."""

import json
import sys

import numpy as np
from pxr import Gf, Usd, UsdGeom, UsdPhysics, UsdShade

import robotusd as ru

SOURCE, URDF, OUT = sys.argv[1:4]

# Newton body -> URDF link. Joint names already match.
LINKS = {
    "base": "base_link",
    "shoulder": "shoulder_link",
    "upper_arm": "upper_arm_link",
    "lower_arm": "lower_arm_link",
    "wrist": "wrist_link",
    "gripper": "gripper_link",
    "moving_jaw_so101_v1": "moving_jaw_so101_v1_link",
}

layer = ru.flatten(SOURCE)
stage = Usd.Stage.Open(layer)


def body(name):
    return next(str(p.GetPath()) for p in stage.Traverse() if p.HasAPI(UsdPhysics.RigidBodyAPI) and p.GetName() == name)


# The URDF has no wrist camera mount: drop the body and the joint holding it.
mount = body("camera_mount")
for p in list(stage.Traverse()):
    if p.IsA(UsdPhysics.Joint) and mount in [str(t) for t in UsdPhysics.Joint(p).GetBody1Rel().GetTargets()]:
        ru.remove(layer, p.GetPath())
ru.remove(layer, mount)

# Deepest first, so the parents' paths still hold.
for old in sorted(LINKS, key=lambda n: -body(n).count("/")):
    ru.rename(layer, body(old), LINKS[old])

# The LeRobot visualizer's colors rather than Menagerie's yellow: printed parts light grey and the
# STS3215 servos carbon black (sRGB #9ba1ab and #171a20). USD colors are linear.
def linear(hex_color):
    srgb = [int(hex_color[i : i + 2], 16) / 255 for i in (1, 3, 5)]
    return Gf.Vec3f(*[c / 12.92 if c <= 0.04045 else ((c + 0.055) / 1.055) ** 2.4 for c in srgb])


for material in stage.GetPrimAtPath("/so101/Materials").GetChildren():
    servo = material.GetName().startswith("sts3215")
    inputs = UsdShade.Material(material)
    inputs.GetInput("diffuseColor").Set(linear("#171a20" if servo else "#9ba1ab"))
    inputs.GetInput("metallic").Set(0.15 if servo else 0.1)
    inputs.GetInput("roughness").Set(0.75 if servo else 0.5)

# The trail tip, where the URDF puts it.
rest = ru.urdf_fk(URDF, {})
base = UsdGeom.XformCache().GetLocalToWorldTransform(stage.GetPrimAtPath(body("base_link")))
align = ru.np_matrix(base) @ np.linalg.inv(rest["base_link"])
ru.add_frame(stage, body("gripper_link"), "gripper_frame_link", align @ rest["gripper_frame_link"])

layer.documentation = (
    "SO-101 (so101_new_calib) for LeRobot. Modified by LeRobot from newton-physics/newton-assets "
    "robotstudio_so101 (Apache-2.0, converted from MuJoCo Menagerie): flattened into one layer, wrist camera "
    "mount removed, links renamed to the so101_new_calib URDF's, gripper_frame_link added at the URDF's tip, "
    "parts recolored light grey with black servos."
)
layer.customLayerData = {
    "lerobot:source": "https://github.com/newton-physics/newton-assets/tree/a96f0973b6ae69c90609f9fafef9d2c1db2d6431/robotstudio_so101",
    "lerobot:urdf": "https://huggingface.co/buckets/lerobot/robot-urdfs/resolve/so101/so101_new_calib_web.urdf",
}
layer.Export(OUT)

out = Usd.Stage.Open(OUT)
report = ru.check_against_urdf(out, URDF)
report["visual_bounds_vs_source_mm"] = ru.compare_visual_bounds(Usd.Stage.Open(SOURCE), out, LINKS)
report["meshes"] = sum(1 for p in out.Traverse() if p.IsA(UsdGeom.Mesh) and UsdGeom.Imageable(p).ComputePurpose() == "default")
report["triangles"] = int(
    sum(
        np.maximum(np.array(UsdGeom.Mesh(p).GetFaceVertexCountsAttr().Get()) - 2, 0).sum()
        for p in out.Traverse()
        if p.IsA(UsdGeom.Mesh) and UsdGeom.Imageable(p).ComputePurpose() == "default"
    )
)
report["materials"] = {
    p.GetName(): {i.GetBaseName(): str(i.Get()) for i in UsdShade.Shader(p).GetInputs() if i.Get() is not None}
    for p in out.Traverse()
    if p.IsA(UsdShade.Shader)
}
print(json.dumps(report, indent=1, default=str))