import copy
import os
import trimesh.transformations as tra
import trimesh
import numpy as np
import pickle
import torch

class PandaGripper(object):
    """An object representing a Franka Panda gripper."""

    def __init__(self, q=None, num_contact_points_per_finger=10, root_folder="./hand_model/panda_gripper_description"):
        """Create a Franka Panda parallel-yaw gripper object.

        Keyword Arguments:
            q {list of int} -- opening configuration (default: {None})
            num_contact_points_per_finger {int} -- contact points per finger (default: {10})
            root_folder {str} -- base folder for model files (default: {''})
        """
        self.joint_limits = [0.0, 0.04]
        self.root_folder = root_folder
        
        self.default_pregrasp_configuration = 0.04
        if q is None:
            q = self.default_pregrasp_configuration

        self.q = q
        fn_base = os.path.join(root_folder, 'gripper_models/panda_gripper/hand.stl')
        fn_finger = os.path.join(root_folder, 'gripper_models/panda_gripper/finger.stl')

        self.base = trimesh.load(fn_base)
        self.finger_l = trimesh.load(fn_finger)
        self.finger_r = self.finger_l.copy()

        # transform fingers relative to the base
        self.finger_l.apply_transform(tra.euler_matrix(0, 0, np.pi))
        self.finger_l.apply_translation([+q, 0, 0.0584])
        self.finger_r.apply_translation([-q, 0, 0.0584])
        
        self.fingers = trimesh.util.concatenate([self.finger_l, self.finger_r])
        self.hand = trimesh.util.concatenate([self.fingers, self.base])


        self.contact_ray_origins = []
        self.contact_ray_directions = []

        # coords_path = os.path.join(root_folder, 'gripper_control_points/panda_gripper_coords.npy')
        with open(os.path.join(root_folder,'gripper_control_points/panda_gripper_coords.pickle'), 'rb') as f:
            self.finger_coords = pickle.load(f, encoding='latin1')
        finger_direction = self.finger_coords['gripper_right_center_flat'] - self.finger_coords['gripper_left_center_flat']
        self.contact_ray_origins.append(np.r_[self.finger_coords['gripper_left_center_flat'], 1])
        self.contact_ray_origins.append(np.r_[self.finger_coords['gripper_right_center_flat'], 1])
        self.contact_ray_directions.append(finger_direction / np.linalg.norm(finger_direction))
        self.contact_ray_directions.append(-finger_direction / np.linalg.norm(finger_direction))

        self.contact_ray_origins = np.array(self.contact_ray_origins)
        self.contact_ray_directions = np.array(self.contact_ray_directions)
        self.mesh=trimesh.util.concatenate([self.finger_l, self.finger_r, self.base])
        self.points=trimesh.sample.sample_surface(self.mesh, 1024)[0]
        
    def get_meshes(self,transform):
        """Get list of meshes that this gripper consists of.

        Returns:
            list of trimesh -- visual meshes
        """
        
        mesh_copy=copy.deepcopy(self.mesh)
        
        return mesh_copy.apply_transform(transform)
    
    
    def get_points(self,angle):
        point_copy=copy.deepcopy(self.points)
        return torch.tensor(trimesh.points.PointCloud(point_copy).apply_transform(angle).vertices)