#
# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
# property and proprietary rights in and to this material, related
# documentation and any modifications thereto. Any use, reproduction,
# disclosure or distribution of this material and related documentation
# without an express license agreement from NVIDIA CORPORATION or
# its affiliates is strictly prohibited.
#
# Third Party
import pytest
import torch

# CuRobo
from curobo.geom.sdf.world import (
    CollisionCheckerType,
    WorldCollisionConfig,
    WorldPrimitiveCollision,
)
from curobo.geom.sdf.world_mesh import WorldMeshCollision
from curobo.geom.types import WorldConfig
from curobo.types.base import TensorDeviceType
from curobo.types.math import Pose
from curobo.types.robot import RobotConfig
from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig


def ik_base_config():
    tensor_args = TensorDeviceType()
    world_file = "collision_cubby.yml"

    robot_file = "franka.yml"
    robot_cfg = RobotConfig.from_dict(
        load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
    )
    world_cfg = WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
    ik_config = IKSolverConfig.load_from_robot_config(
        robot_cfg,
        world_cfg,
        rotation_threshold=0.05,
        position_threshold=0.005,
        num_seeds=100,
        self_collision_check=True,
        self_collision_opt=True,
        tensor_args=tensor_args,
        use_cuda_graph=False,
        n_collision_envs=1,
        collision_cache={"obb": 10},
    )
    return ik_config


def ik_gd_config():
    tensor_args = TensorDeviceType()
    world_file = "collision_cubby.yml"

    robot_file = "franka.yml"
    robot_cfg = RobotConfig.from_dict(
        load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
    )
    world_cfg = WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
    ik_config = IKSolverConfig.load_from_robot_config(
        robot_cfg,
        world_cfg,
        rotation_threshold=0.05,
        position_threshold=0.005,
        num_seeds=100,
        self_collision_check=True,
        self_collision_opt=True,
        tensor_args=tensor_args,
        use_cuda_graph=False,
        use_gradient_descent=True,
        grad_iters=100,
    )
    return ik_config


def ik_es_config():
    tensor_args = TensorDeviceType()
    world_file = "collision_cubby.yml"

    robot_file = "franka.yml"
    robot_cfg = RobotConfig.from_dict(
        load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
    )
    world_cfg = WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
    ik_config = IKSolverConfig.load_from_robot_config(
        robot_cfg,
        world_cfg,
        rotation_threshold=0.05,
        position_threshold=0.005,
        num_seeds=100,
        self_collision_check=True,
        self_collision_opt=True,
        tensor_args=tensor_args,
        use_cuda_graph=False,
        use_es=True,
        es_learning_rate=0.01,
        use_fixed_samples=True,
    )
    return ik_config


def ik_no_particle_opt_config():
    tensor_args = TensorDeviceType()
    world_file = "collision_cubby.yml"

    robot_file = "franka.yml"
    robot_cfg = RobotConfig.from_dict(
        load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
    )
    world_cfg = WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
    ik_config = IKSolverConfig.load_from_robot_config(
        robot_cfg,
        world_cfg,
        rotation_threshold=0.05,
        position_threshold=0.005,
        num_seeds=100,
        self_collision_check=True,
        self_collision_opt=True,
        tensor_args=tensor_args,
        use_cuda_graph=False,
        use_particle_opt=False,
        grad_iters=100,
    )
    return ik_config


@pytest.mark.parametrize(
    "config, expected",
    [
        (ik_base_config(), True),
        (ik_es_config(), True),
        (ik_gd_config(), -100),  # unstable
        (ik_no_particle_opt_config(), True),
    ],
)
def test_eval(config, expected):
    ik_solver = IKSolver(config)
    q_sample = ik_solver.sample_configs(1)
    kin_state = ik_solver.fk(q_sample)
    goal = Pose(kin_state.ee_position, kin_state.ee_quaternion)
    result = ik_solver.solve_single(goal)
    result = ik_solver.solve_single(goal)

    success = result.success
    if expected != -100:
        assert success.item() == expected