import numpy as np

from data_gen_dependencies.action.base import StageTemplate

class PressPrismaticStage(StageTemplate):
    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=None, vector_direction=None, objects=[], **kwargs):
        super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
        self.pre_distance = -0.03
        
        self.passive_obj = objects[passive_obj_id]
        self.active_obj = objects[active_obj_id]
        self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.7)
        self.joint_position_threshold = self.joint_position_threshold if self.joint_position_threshold is not None else 0.7
        self.correspond_joint_id = passive_element.get('correspond_joint_id', None)
        correspond_joint_info = self.passive_obj.joints_info[self.correspond_joint_id]
        self.joint_lower_limit = correspond_joint_info["lower_bound"]
        self.joint_upper_limit = correspond_joint_info["upper_bound"]
        self.move_distance = -0.005 + abs(self.joint_lower_limit - self.joint_upper_limit) * self.joint_position_threshold
        self.joint_axis = correspond_joint_info["joint_axis"]
        self.joint_type = correspond_joint_info["joint_type"]
        assert self.joint_type == 'prismatic', "joint_type must be prismatic for press action"
        correspond_joint_info = self.passive_obj.joints_info[self.correspond_joint_id]
        self.generate_substage(target_pose, vector_direction)

        
    def generate_substage(self, target_pose, vector_direction):
        vector_direction = vector_direction / np.linalg.norm(vector_direction)
        pre_pose = target_pose.copy()
        pre_pose[:3,3] += vector_direction * self.pre_distance
        self.sub_stages.append([pre_pose, 'close', np.eye(4), 'AvoidObs'])
        
        move_pose = target_pose.copy()
        move_pose[:3,3] += vector_direction * self.move_distance
        self.sub_stages.append([move_pose, None, np.eye(4), 'Simple'])
        free_delta_pose = np.eye(4)
        free_delta_pose[2,3] = -0.03
        self.sub_stages.append([free_delta_pose, "open", np.eye(4), 'local_gripper'])