# 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

"""
This script creates a simple environment with a floating cube. The cube is controlled by a PD
controller to track an arbitrary target position.

While going through this tutorial, we recommend you to pay attention to how a custom action term
is defined. The action term is responsible for processing the raw actions and applying them to the
scene entities.

We also define an event term called 'randomize_scale' that randomizes the scale of
the cube. This event term has the mode 'prestartup', which means that it is applied on the USD stage
before the simulation starts. Additionally, the flag 'replicate_physics' is set to False,
which means that the cube is not replicated across multiple environments but rather each
environment gets its own cube instance.

The rest of the environment is similar to the previous tutorials.

.. code-block:: bash

    # Run the script
    ./isaaclab.sh -p scripts/tutorials/03_envs/create_cube_base_env.py --num_envs 32

"""

from __future__ import annotations

"""Launch Isaac Sim Simulator first."""


import argparse

from isaaclab.app import AppLauncher

# add argparse arguments
parser = argparse.ArgumentParser(description="Tutorial on creating a floating cube environment.")
parser.add_argument("--num_envs", type=int, default=64, help="Number of environments to spawn.")

# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()

# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app

"""Rest everything follows."""

import torch

import isaaclab.envs.mdp as mdp
import isaaclab.sim as sim_utils
from isaaclab.assets import AssetBaseCfg, RigidObject, RigidObjectCfg
from isaaclab.envs import ManagerBasedEnv, ManagerBasedEnvCfg
from isaaclab.managers import ActionTerm, ActionTermCfg, SceneEntityCfg
from isaaclab.managers import EventTermCfg as EventTerm
from isaaclab.managers import ObservationGroupCfg as ObsGroup
from isaaclab.managers import ObservationTermCfg as ObsTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.terrains import TerrainImporterCfg
from isaaclab.utils import configclass

##
# Custom action term
##


class CubeActionTerm(ActionTerm):
    """Simple action term that implements a PD controller to track a target position.

    The action term is applied to the cube asset. It involves two steps:

    1. **Process the raw actions**: Typically, this includes any transformations of the raw actions
       that are required to map them to the desired space. This is called once per environment step.
    2. **Apply the processed actions**: This step applies the processed actions to the asset.
       It is called once per simulation step.

    In this case, the action term simply applies the raw actions to the cube asset. The raw actions
    are the desired target positions of the cube in the environment frame. The pre-processing step
    simply copies the raw actions to the processed actions as no additional processing is required.
    The processed actions are then applied to the cube asset by implementing a PD controller to
    track the target position.
    """

    _asset: RigidObject
    """The articulation asset on which the action term is applied."""

    def __init__(self, cfg: CubeActionTermCfg, env: ManagerBasedEnv):
        # call super constructor
        super().__init__(cfg, env)
        # create buffers
        self._raw_actions = torch.zeros(env.num_envs, 3, device=self.device)
        self._processed_actions = torch.zeros(env.num_envs, 3, device=self.device)
        self._vel_command = torch.zeros(self.num_envs, 6, device=self.device)
        # gains of controller
        self.p_gain = cfg.p_gain
        self.d_gain = cfg.d_gain

    """
    Properties.
    """

    @property
    def action_dim(self) -> int:
        return self._raw_actions.shape[1]

    @property
    def raw_actions(self) -> torch.Tensor:
        return self._raw_actions

    @property
    def processed_actions(self) -> torch.Tensor:
        return self._processed_actions

    """
    Operations
    """

    def process_actions(self, actions: torch.Tensor):
        # store the raw actions
        self._raw_actions[:] = actions
        # no-processing of actions
        self._processed_actions[:] = self._raw_actions[:]

    def apply_actions(self):
        # implement a PD controller to track the target position
        pos_error = self._processed_actions - (self._asset.data.root_pos_w - self._env.scene.env_origins)
        vel_error = -self._asset.data.root_lin_vel_w
        # set velocity targets
        self._vel_command[:, :3] = self.p_gain * pos_error + self.d_gain * vel_error
        self._asset.write_root_velocity_to_sim(self._vel_command)


@configclass
class CubeActionTermCfg(ActionTermCfg):
    """Configuration for the cube action term."""

    class_type: type = CubeActionTerm
    """The class corresponding to the action term."""

    p_gain: float = 5.0
    """Proportional gain of the PD controller."""
    d_gain: float = 0.5
    """Derivative gain of the PD controller."""


##
# Custom observation term
##


def base_position(env: ManagerBasedEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
    """Root linear velocity in the asset's root frame."""
    # extract the used quantities (to enable type-hinting)
    asset: RigidObject = env.scene[asset_cfg.name]
    return asset.data.root_pos_w - env.scene.env_origins


##
# Scene definition
##


@configclass
class MySceneCfg(InteractiveSceneCfg):
    """Example scene configuration.

    The scene comprises of a ground plane, light source and floating cubes (gravity disabled).
    """

    # add terrain
    terrain = TerrainImporterCfg(prim_path="/World/ground", terrain_type="plane", debug_vis=False)

    # add cube
    cube: RigidObjectCfg = RigidObjectCfg(
        prim_path="{ENV_REGEX_NS}/cube",
        spawn=sim_utils.CuboidCfg(
            size=(0.2, 0.2, 0.2),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(max_depenetration_velocity=1.0, disable_gravity=True),
            mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
            physics_material=sim_utils.RigidBodyMaterialCfg(),
            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.5, 0.0, 0.0)),
        ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 5)),
    )

    # lights
    light = AssetBaseCfg(
        prim_path="/World/light",
        spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=2000.0),
    )


##
# Environment settings
##


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

    joint_pos = CubeActionTermCfg(asset_name="cube")


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

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

        # cube velocity
        position = ObsTerm(func=base_position, params={"asset_cfg": SceneEntityCfg("cube")})

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

    # observation groups
    policy: PolicyCfg = PolicyCfg()


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

    # This event term resets the base position of the cube.
    # The mode is set to 'reset', which means that the base position is reset whenever
    # the environment instance is reset (because of terminations defined in 'TerminationCfg').
    reset_base = EventTerm(
        func=mdp.reset_root_state_uniform,
        mode="reset",
        params={
            "pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
            "velocity_range": {
                "x": (-0.5, 0.5),
                "y": (-0.5, 0.5),
                "z": (-0.5, 0.5),
            },
            "asset_cfg": SceneEntityCfg("cube"),
        },
    )

    # This event term randomizes the scale of the cube.
    # The mode is set to 'prestartup', which means that the scale is randomize on the USD stage before the
    # simulation starts.
    # Note: USD-level randomizations require the flag 'replicate_physics' to be set to False.
    randomize_scale = EventTerm(
        func=mdp.randomize_rigid_body_scale,
        mode="prestartup",
        params={
            "scale_range": {"x": (0.5, 1.5), "y": (0.5, 1.5), "z": (0.5, 1.5)},
            "asset_cfg": SceneEntityCfg("cube"),
        },
    )

    # This event term randomizes the visual color of the cube.
    # Similar to the scale randomization, this is also a USD-level randomization and requires the flag
    # 'replicate_physics' to be set to False.
    randomize_color = EventTerm(
        func=mdp.randomize_visual_color,
        mode="prestartup",
        params={
            "colors": {"r": (0.0, 1.0), "g": (0.0, 1.0), "b": (0.0, 1.0)},
            "asset_cfg": SceneEntityCfg("cube"),
            "mesh_name": "geometry/mesh",
            "event_name": "rep_cube_randomize_color",
        },
    )


##
# Environment configuration
##


@configclass
class CubeEnvCfg(ManagerBasedEnvCfg):
    """Configuration for the locomotion velocity-tracking environment."""

    # Scene settings
    # The flag 'replicate_physics' is set to False, which means that the cube is not replicated
    # across multiple environments but rather each environment gets its own cube instance.
    # This allows modifying the cube's properties independently for each environment.
    scene: MySceneCfg = MySceneCfg(num_envs=args_cli.num_envs, env_spacing=2.5, replicate_physics=False)

    # Basic settings
    observations: ObservationsCfg = ObservationsCfg()
    actions: ActionsCfg = ActionsCfg()
    events: EventCfg = EventCfg()

    def __post_init__(self):
        """Post initialization."""
        # general settings
        self.decimation = 2
        # simulation settings
        self.sim.dt = 0.01
        self.sim.physics_material = self.scene.terrain.physics_material
        self.sim.render_interval = 2  # render interval should be a multiple of decimation
        self.sim.device = args_cli.device
        # viewer settings
        self.viewer.eye = (5.0, 5.0, 5.0)
        self.viewer.lookat = (0.0, 0.0, 2.0)


def main():
    """Main function."""

    # setup base environment
    env_cfg = CubeEnvCfg()
    env = ManagerBasedEnv(cfg=env_cfg)

    # setup target position commands
    target_position = torch.rand(env.num_envs, 3, device=env.device) * 2
    target_position[:, 2] += 2.0
    # offset all targets so that they move to the world origin
    target_position -= env.scene.env_origins

    # simulate physics
    count = 0
    obs, _ = env.reset()
    while simulation_app.is_running():
        with torch.inference_mode():
            # reset
            if count % 300 == 0:
                count = 0
                obs, _ = env.reset()
                print("-" * 80)
                print("[INFO]: Resetting environment...")
            # step env
            obs, _ = env.step(target_position)
            # print mean squared position error between target and current position
            error = torch.norm(obs["policy"] - target_position).mean().item()
            print(f"[Step: {count:04d}]: Mean position error: {error:.4f}")
            # update counter
            count += 1

    # close the environment
    env.close()


if __name__ == "__main__":
    # run the main function
    main()
    # close sim app
    simulation_app.close()