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# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from dataclasses import MISSING

import isaaclab.sim as sim_utils
from isaaclab.assets import ArticulationCfg, AssetBaseCfg, DeformableObjectCfg, RigidObjectCfg
from isaaclab.envs import ManagerBasedRLEnvCfg
from isaaclab.managers import CurriculumTermCfg as CurrTerm
from isaaclab.managers import EventTermCfg as EventTerm
from isaaclab.managers import ObservationGroupCfg as ObsGroup
from isaaclab.managers import ObservationTermCfg as ObsTerm
from isaaclab.managers import RewardTermCfg as RewTerm
from isaaclab.managers import SceneEntityCfg
from isaaclab.managers import TerminationTermCfg as DoneTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
from isaaclab.utils import configclass
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR

from . import mdp

##
# Scene definition
##


@configclass
class ObjectTableSceneCfg(InteractiveSceneCfg):
    """Configuration for the lift scene with a robot and a object.
    This is the abstract base implementation, the exact scene is defined in the derived classes
    which need to set the target object, robot and end-effector frames
    """

    # robots: will be populated by agent env cfg
    robot: ArticulationCfg = MISSING
    # end-effector sensor: will be populated by agent env cfg
    ee_frame: FrameTransformerCfg = MISSING
    # target object: will be populated by agent env cfg
    object: RigidObjectCfg | DeformableObjectCfg = MISSING

    # Table
    table = AssetBaseCfg(
        prim_path="{ENV_REGEX_NS}/Table",
        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]),
        spawn=UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"),
    )

    # plane
    plane = AssetBaseCfg(
        prim_path="/World/GroundPlane",
        init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05]),
        spawn=GroundPlaneCfg(),
    )

    # lights
    light = AssetBaseCfg(
        prim_path="/World/light",
        spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
    )


##
# MDP settings
##


@configclass
class CommandsCfg:
    """Command terms for the MDP."""

    object_pose = mdp.UniformPoseCommandCfg(
        asset_name="robot",
        body_name=MISSING,  # will be set by agent env cfg
        resampling_time_range=(5.0, 5.0),
        debug_vis=True,
        ranges=mdp.UniformPoseCommandCfg.Ranges(
            pos_x=(0.4, 0.6), pos_y=(-0.25, 0.25), pos_z=(0.055, 0.055), roll=(0.0, 0.0), pitch=(0.0, 0.0), yaw=(0.0, 0.0)
        ),
    )


@configclass
class ActionsCfg:
    """Action specifications for the MDP."""

    # will be set by agent env cfg
    arm_action: mdp.JointPositionActionCfg | mdp.DifferentialInverseKinematicsActionCfg = MISSING
    gripper_action: mdp.BinaryJointPositionActionCfg = MISSING


@configclass
class ObservationsCfg:
    """Observation specifications for the MDP."""

    @configclass
    class PolicyCfg(ObsGroup):
        """Observations for policy group."""

        joint_pos = ObsTerm(func=mdp.joint_pos_rel)
        joint_vel = ObsTerm(func=mdp.joint_vel_rel)
        object_position = ObsTerm(func=mdp.object_position_in_robot_root_frame)
        target_object_position = ObsTerm(func=mdp.generated_commands, params={"command_name": "object_pose"})
        actions = ObsTerm(func=mdp.last_action)

        def __post_init__(self):
            self.enable_corruption = True
            self.concatenate_terms = True

    # observation groups
    policy: PolicyCfg = PolicyCfg()


@configclass
class EventCfg:
    """Configuration for events."""

    reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")

    reset_object_position = EventTerm(
        func=mdp.reset_root_state_uniform,
        mode="reset",
        params={
            "pose_range": {"x": (-0.1, 0.1), "y": (-0.25, 0.25), "z": (0.0, 0.0)},
            "velocity_range": {},
            "asset_cfg": SceneEntityCfg("object", body_names="Object"),
        },
    )


@configclass
class RewardsCfg:
    """Reward terms for the MDP."""

    reaching_object = RewTerm(func=mdp.object_ee_distance, params={"std": 0.1}, weight=3.0)


    object_goal_tracking = RewTerm(
        func=mdp.object_goal_distance,
        params={"std": 0.15, "minimal_height": -1.0, "command_name": "object_pose"},
        weight=16.0,
    )

    object_goal_tracking_fine_grained = RewTerm(
        func=mdp.object_goal_distance,
        params={"std": 0.05, "minimal_height": -1.0, "command_name": "object_pose"},
        weight=5.0,
    )
    success_bonus = RewTerm(
        func=mdp.object_goal_reached_bonus,
        params={"threshold": 0.05, "command_name": "object_pose"},
        weight=100.0,
    )

    # action penalty
    action_rate = RewTerm(func=mdp.action_rate_l2, weight=-1e-4)

    joint_vel = RewTerm(
        func=mdp.joint_vel_l2,
        weight=-1e-4,
        params={"asset_cfg": SceneEntityCfg("robot")},
    )


@configclass
class TerminationsCfg:
    """Termination terms for the MDP."""

    time_out = DoneTerm(func=mdp.time_out, time_out=True)

    object_dropping = DoneTerm(
        func=mdp.root_height_below_minimum, params={"minimum_height": -0.05, "asset_cfg": SceneEntityCfg("object")}
    )
    success = DoneTerm(
        func=mdp.object_reached_goal, params={"threshold": 0.05, "command_name": "object_pose"}
    )


@configclass
class CurriculumCfg:
    """No curriculum: penalties stay small so the arm is free to move."""
    pass


##
# Environment configuration
##


@configclass
class PushEnvCfg(ManagerBasedRLEnvCfg):
    """Configuration for the lifting environment."""

    # Scene settings
    scene: ObjectTableSceneCfg = ObjectTableSceneCfg(num_envs=4096, env_spacing=2.5)
    # Basic settings
    observations: ObservationsCfg = ObservationsCfg()
    actions: ActionsCfg = ActionsCfg()
    commands: CommandsCfg = CommandsCfg()
    # MDP settings
    rewards: RewardsCfg = RewardsCfg()
    terminations: TerminationsCfg = TerminationsCfg()
    events: EventCfg = EventCfg()
    curriculum: CurriculumCfg = CurriculumCfg()

    def __post_init__(self):
        """Post initialization."""
        # general settings
        self.decimation = 2
        self.episode_length_s = 5.0
        # simulation settings
        self.sim.dt = 0.01  # 100Hz
        self.sim.render_interval = self.decimation

        self.sim.physx.bounce_threshold_velocity = 0.2
        self.sim.physx.bounce_threshold_velocity = 0.01
        self.sim.physx.gpu_found_lost_aggregate_pairs_capacity = 1024 * 1024 * 4
        self.sim.physx.gpu_total_aggregate_pairs_capacity = 16 * 1024
        self.sim.physx.friction_correlation_distance = 0.00625

	# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
	# All rights reserved.
	#
	# SPDX-License-Identifier: BSD-3-Clause

	from dataclasses import MISSING

	import isaaclab.sim as sim_utils
	from isaaclab.assets import ArticulationCfg, AssetBaseCfg, DeformableObjectCfg, RigidObjectCfg
	from isaaclab.envs import ManagerBasedRLEnvCfg
	from isaaclab.managers import CurriculumTermCfg as CurrTerm
	from isaaclab.managers import EventTermCfg as EventTerm
	from isaaclab.managers import ObservationGroupCfg as ObsGroup
	from isaaclab.managers import ObservationTermCfg as ObsTerm
	from isaaclab.managers import RewardTermCfg as RewTerm
	from isaaclab.managers import SceneEntityCfg
	from isaaclab.managers import TerminationTermCfg as DoneTerm
	from isaaclab.scene import InteractiveSceneCfg
	from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
	from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
	from isaaclab.utils import configclass
	from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR

	from . import mdp

	##
	# Scene definition
	##


	@configclass
	class ObjectTableSceneCfg(InteractiveSceneCfg):
	"""Configuration for the lift scene with a robot and a object.
	This is the abstract base implementation, the exact scene is defined in the derived classes
	which need to set the target object, robot and end-effector frames
	"""

	# robots: will be populated by agent env cfg
	robot: ArticulationCfg = MISSING
	# end-effector sensor: will be populated by agent env cfg
	ee_frame: FrameTransformerCfg = MISSING
	# target object: will be populated by agent env cfg
	object: RigidObjectCfg \| DeformableObjectCfg = MISSING

	# Table
	table = AssetBaseCfg(
	prim_path="{ENV_REGEX_NS}/Table",
	init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]),
	spawn=UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"),
	)

	# plane
	plane = AssetBaseCfg(
	prim_path="/World/GroundPlane",
	init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05]),
	spawn=GroundPlaneCfg(),
	)

	# lights
	light = AssetBaseCfg(
	prim_path="/World/light",
	spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
	)


	##
	# MDP settings
	##


	@configclass
	class CommandsCfg:
	"""Command terms for the MDP."""

	object_pose = mdp.UniformPoseCommandCfg(
	asset_name="robot",
	body_name=MISSING, # will be set by agent env cfg
	resampling_time_range=(5.0, 5.0),
	debug_vis=True,
	ranges=mdp.UniformPoseCommandCfg.Ranges(
	pos_x=(0.4, 0.6), pos_y=(-0.25, 0.25), pos_z=(0.055, 0.055), roll=(0.0, 0.0), pitch=(0.0, 0.0), yaw=(0.0, 0.0)
	),
	)


	@configclass
	class ActionsCfg:
	"""Action specifications for the MDP."""

	# will be set by agent env cfg
	arm_action: mdp.JointPositionActionCfg \| mdp.DifferentialInverseKinematicsActionCfg = MISSING
	gripper_action: mdp.BinaryJointPositionActionCfg = MISSING


	@configclass
	class ObservationsCfg:
	"""Observation specifications for the MDP."""

	@configclass
	class PolicyCfg(ObsGroup):
	"""Observations for policy group."""

	joint_pos = ObsTerm(func=mdp.joint_pos_rel)
	joint_vel = ObsTerm(func=mdp.joint_vel_rel)
	object_position = ObsTerm(func=mdp.object_position_in_robot_root_frame)
	target_object_position = ObsTerm(func=mdp.generated_commands, params={"command_name": "object_pose"})
	actions = ObsTerm(func=mdp.last_action)

	def __post_init__(self):
	self.enable_corruption = True
	self.concatenate_terms = True

	# observation groups
	policy: PolicyCfg = PolicyCfg()


	@configclass
	class EventCfg:
	"""Configuration for events."""

	reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")

	reset_object_position = EventTerm(
	func=mdp.reset_root_state_uniform,
	mode="reset",
	params={
	"pose_range": {"x": (-0.1, 0.1), "y": (-0.25, 0.25), "z": (0.0, 0.0)},
	"velocity_range": {},
	"asset_cfg": SceneEntityCfg("object", body_names="Object"),
	},
	)


	@configclass
	class RewardsCfg:
	"""Reward terms for the MDP."""

	reaching_object = RewTerm(func=mdp.object_ee_distance, params={"std": 0.1}, weight=3.0)


	object_goal_tracking = RewTerm(
	func=mdp.object_goal_distance,
	params={"std": 0.15, "minimal_height": -1.0, "command_name": "object_pose"},
	weight=16.0,
	)

	object_goal_tracking_fine_grained = RewTerm(
	func=mdp.object_goal_distance,
	params={"std": 0.05, "minimal_height": -1.0, "command_name": "object_pose"},
	weight=5.0,
	)
	success_bonus = RewTerm(
	func=mdp.object_goal_reached_bonus,
	params={"threshold": 0.05, "command_name": "object_pose"},
	weight=100.0,
	)

	# action penalty
	action_rate = RewTerm(func=mdp.action_rate_l2, weight=-1e-4)

	joint_vel = RewTerm(
	func=mdp.joint_vel_l2,
	weight=-1e-4,
	params={"asset_cfg": SceneEntityCfg("robot")},
	)


	@configclass
	class TerminationsCfg:
	"""Termination terms for the MDP."""

	time_out = DoneTerm(func=mdp.time_out, time_out=True)

	object_dropping = DoneTerm(
	func=mdp.root_height_below_minimum, params={"minimum_height": -0.05, "asset_cfg": SceneEntityCfg("object")}
	)
	success = DoneTerm(
	func=mdp.object_reached_goal, params={"threshold": 0.05, "command_name": "object_pose"}
	)


	@configclass
	class CurriculumCfg:
	"""No curriculum: penalties stay small so the arm is free to move."""
	pass


	##
	# Environment configuration
	##


	@configclass
	class PushEnvCfg(ManagerBasedRLEnvCfg):
	"""Configuration for the lifting environment."""

	# Scene settings
	scene: ObjectTableSceneCfg = ObjectTableSceneCfg(num_envs=4096, env_spacing=2.5)
	# Basic settings
	observations: ObservationsCfg = ObservationsCfg()
	actions: ActionsCfg = ActionsCfg()
	commands: CommandsCfg = CommandsCfg()
	# MDP settings
	rewards: RewardsCfg = RewardsCfg()
	terminations: TerminationsCfg = TerminationsCfg()
	events: EventCfg = EventCfg()
	curriculum: CurriculumCfg = CurriculumCfg()

	def __post_init__(self):
	"""Post initialization."""
	# general settings
	self.decimation = 2
	self.episode_length_s = 5.0
	# simulation settings
	self.sim.dt = 0.01 # 100Hz
	self.sim.render_interval = self.decimation

	self.sim.physx.bounce_threshold_velocity = 0.2
	self.sim.physx.bounce_threshold_velocity = 0.01
	self.sim.physx.gpu_found_lost_aggregate_pairs_capacity = 1024 * 1024 * 4
	self.sim.physx.gpu_total_aggregate_pairs_capacity = 16 * 1024
	self.sim.physx.friction_correlation_distance = 0.00625