"""Pick a grape cluster and place it in a wooden box."""
from ..registry import register_task
from ..envs import YamTaskEnv
from ..solvers import pick_place
from .. import conditions as C


@register_task("grape_box")
class GrapeBoxTask(YamTaskEnv):
    title = "GRAPE -> BOX"
    tags = ["pick-place", "primitive-container"]
    instruction = {"default": "Put the grape in the box.",
                   "specific": "Pick up the grape cluster and place it inside the wooden box."}

    # --- task constants (ManiSkill keeps these as class attrs too) ---
    grape_spawn = (-0.03, 0.10)
    grape_spawn_jitter = (0.025, 0.015)
    box_xy = (-0.02, -0.26)
    box_jitter = (0.02, 0.02)
    box_span = 0.26
    lift_height = 0.16
    gripper_effort, gripper_damping = 75, 85

    def _load_scene(self):
        self.scene.build_box({"name": "box", "xy": self.box_xy, "xy_jitter": self.box_jitter,
                              "span": self.box_span, "wall_h": 0.05})
        self._placed = [self.scene.place_object(
            {"name": "grape", "xy": self.grape_spawn, "xy_jitter": self.grape_spawn_jitter})]

    def solve(self):
        return pick_place.solve(self, obj="grape", target="box", lift=self.lift_height)

    def evaluate(self):
        return self.check(C.labelled("grape in box", C.object_in_region("grape", "box")),
                          C.labelled("grape lifted", C.object_lifted("grape", 0.05)))