#
# 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 torch

a = torch.zeros(4, device="cuda:0")

# Standard Library
import argparse

parser = argparse.ArgumentParser()

parser.add_argument(
    "--headless_mode",
    type=str,
    default=None,
    help="To run headless, use one of [native, websocket], webrtc might not work.",
)
parser.add_argument(
    "--visualize_spheres",
    action="store_true",
    help="When True, visualizes robot spheres",
    default=False,
)

parser.add_argument("--robot", type=str, default="franka.yml", help="robot configuration to load")
args = parser.parse_args()

############################################################

# Third Party
from omni.isaac.kit import SimulationApp

simulation_app = SimulationApp(
    {
        "headless": args.headless_mode is not None,
        "width": "1920",
        "height": "1080",
    }
)
# CuRobo
# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
from curobo.geom.sdf.world import CollisionCheckerType
from curobo.geom.types import WorldConfig
from curobo.types.base import TensorDeviceType
from curobo.types.math import Pose
from curobo.types.robot import JointState
from curobo.types.state import JointState
from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig

ext_list = [
    "omni.kit.asset_converter",
    "omni.kit.livestream.native",
    "omni.kit.tool.asset_importer",
    "omni.isaac.asset_browser",
]
# [enable_extension(x) for x in ext_list]
# simulation_app.update()


# Third Party
import carb
import numpy as np
from helper import add_extensions, add_robot_to_scene
from omni.isaac.core import World
from omni.isaac.core.objects import cuboid, sphere

########### OV #################
from omni.isaac.core.utils.types import ArticulationAction

# CuRobo
from curobo.util.logger import setup_curobo_logger
from curobo.util.usd_helper import UsdHelper

############################################################


########### OV #################;;;;;


############################################################


def main():
    # assuming obstacles are in objects_path:
    my_world = World(stage_units_in_meters=1.0)
    stage = my_world.stage

    xform = stage.DefinePrim("/World", "Xform")
    stage.SetDefaultPrim(xform)
    stage.DefinePrim("/curobo", "Xform")
    # my_world.stage.SetDefaultPrim(my_world.stage.GetPrimAtPath("/World"))
    stage = my_world.stage
    # stage.SetDefaultPrim(stage.GetPrimAtPath("/World"))

    # Make a target to follow
    target = cuboid.VisualCuboid(
        "/World/target",
        position=np.array([0.5, 0, 0.5]),
        orientation=np.array([0, 1, 0, 0]),
        color=np.array([1.0, 0, 0]),
        size=0.05,
    )

    setup_curobo_logger("warn")
    past_pose = None

    # warmup curobo instance
    usd_help = UsdHelper()
    target_pose = None

    tensor_args = TensorDeviceType()

    robot_cfg = load_yaml(join_path(get_robot_configs_path(), args.robot))["robot_cfg"]

    j_names = robot_cfg["kinematics"]["cspace"]["joint_names"]
    default_config = robot_cfg["kinematics"]["cspace"]["retract_config"]

    robot, _ = add_robot_to_scene(robot_cfg, my_world)

    articulation_controller = robot.get_articulation_controller()
    world_cfg_table = WorldConfig.from_dict(
        load_yaml(join_path(get_world_configs_path(), "collision_table.yml"))
    )
    world_cfg = WorldConfig.from_dict(
        load_yaml(join_path(get_world_configs_path(), "collision_nvblox.yml"))
    )
    world_cfg_table.cuboid[0].pose[2] -= 0.04

    world_cfg.add_obstacle(world_cfg_table.cuboid[0])
    motion_gen_config = MotionGenConfig.load_from_robot_config(
        robot_cfg,
        world_cfg,
        tensor_args,
        trajopt_tsteps=32,
        collision_checker_type=CollisionCheckerType.BLOX,
        use_cuda_graph=True,
        num_trajopt_seeds=12,
        num_graph_seeds=12,
        interpolation_dt=0.03,
        collision_activation_distance=0.025,
        acceleration_scale=1.0,
        self_collision_check=True,
        maximum_trajectory_dt=0.25,
        finetune_dt_scale=1.05,
        fixed_iters_trajopt=True,
        finetune_trajopt_iters=500,
        minimize_jerk=False,
    )
    motion_gen = MotionGen(motion_gen_config)
    print("warming up...")
    motion_gen.warmup(enable_graph=True, warmup_js_trajopt=False)

    print("Curobo is Ready")
    add_extensions(simulation_app, args.headless_mode)
    plan_config = MotionGenPlanConfig(
        enable_graph=False, enable_graph_attempt=4, max_attempts=2, enable_finetune_trajopt=True
    )

    usd_help.load_stage(my_world.stage)
    usd_help.add_world_to_stage(world_cfg.get_mesh_world(), base_frame="/World")

    cmd_plan = None
    cmd_idx = 0
    my_world.scene.add_default_ground_plane()
    i = 0
    spheres = None
    while simulation_app.is_running():
        my_world.step(render=True)
        if not my_world.is_playing():
            if i % 100 == 0:
                print("**** Click Play to start simulation *****")
            i += 1
            # if step_index == 0:
            #    my_world.play()
            continue

        step_index = my_world.current_time_step_index
        # print(step_index)
        if step_index == 0:
            my_world.reset()
            idx_list = [robot.get_dof_index(x) for x in j_names]
            robot.set_joint_positions(default_config, idx_list)

            robot._articulation_view.set_max_efforts(
                values=np.array([5000 for i in range(len(idx_list))]), joint_indices=idx_list
            )
        if step_index < 20:
            continue

        # position and orientation of target virtual cube:
        cube_position, cube_orientation = target.get_world_pose()

        if past_pose is None:
            past_pose = cube_position
        if target_pose is None:
            target_pose = cube_position
        sim_js = robot.get_joints_state()
        sim_js_names = robot.dof_names
        cu_js = JointState(
            position=tensor_args.to_device(sim_js.positions),
            velocity=tensor_args.to_device(sim_js.velocities) * 0.0,
            acceleration=tensor_args.to_device(sim_js.velocities) * 0.0,
            jerk=tensor_args.to_device(sim_js.velocities) * 0.0,
            joint_names=sim_js_names,
        )
        cu_js = cu_js.get_ordered_joint_state(motion_gen.kinematics.joint_names)

        if args.visualize_spheres and step_index % 2 == 0:
            sph_list = motion_gen.kinematics.get_robot_as_spheres(cu_js.position)

            if spheres is None:
                spheres = []
                # create spheres:

                for si, s in enumerate(sph_list[0]):
                    sp = sphere.VisualSphere(
                        prim_path="/curobo/robot_sphere_" + str(si),
                        position=np.ravel(s.position),
                        radius=float(s.radius),
                        color=np.array([0, 0.8, 0.2]),
                    )
                    spheres.append(sp)
            else:
                for si, s in enumerate(sph_list[0]):
                    spheres[si].set_world_pose(position=np.ravel(s.position))
                    spheres[si].set_radius(float(s.radius))
        # print(sim_js.velocities)
        if (
            np.linalg.norm(cube_position - target_pose) > 1e-3
            and np.linalg.norm(past_pose - cube_position) == 0.0
            and np.linalg.norm(sim_js.velocities) < 0.2
        ):
            # Set EE teleop goals, use cube for simple non-vr init:
            ee_translation_goal = cube_position
            ee_orientation_teleop_goal = cube_orientation

            # compute curobo solution:
            ik_goal = Pose(
                position=tensor_args.to_device(ee_translation_goal),
                quaternion=tensor_args.to_device(ee_orientation_teleop_goal),
            )

            result = motion_gen.plan_single(cu_js.unsqueeze(0), ik_goal, plan_config)
            # ik_result = ik_solver.solve_single(ik_goal, cu_js.position.view(1,-1), cu_js.position.view(1,1,-1))

            succ = result.success.item()  # ik_result.success.item()
            if succ:
                cmd_plan = result.get_interpolated_plan()
                cmd_plan = motion_gen.get_full_js(cmd_plan)
                # get only joint names that are in both:
                idx_list = []
                common_js_names = []
                for x in sim_js_names:
                    if x in cmd_plan.joint_names:
                        idx_list.append(robot.get_dof_index(x))
                        common_js_names.append(x)
                # idx_list = [robot.get_dof_index(x) for x in sim_js_names]

                cmd_plan = cmd_plan.get_ordered_joint_state(common_js_names)

                cmd_idx = 0

            else:
                carb.log_warn("Plan did not converge to a solution.  No action is being taken.")
            target_pose = cube_position
        past_pose = cube_position
        if cmd_plan is not None:
            cmd_state = cmd_plan[cmd_idx]

            # get full dof state
            art_action = ArticulationAction(
                cmd_state.position.cpu().numpy(),
                cmd_state.velocity.cpu().numpy(),
                joint_indices=idx_list,
            )
            # set desired joint angles obtained from IK:
            articulation_controller.apply_action(art_action)
            cmd_idx += 1
            for _ in range(2):
                my_world.step(render=False)
            if cmd_idx >= len(cmd_plan.position):
                cmd_idx = 0
                cmd_plan = None
    simulation_app.close()


if __name__ == "__main__":
    main()