"""Stack two upright cups on a marked target region."""
from ..registry import register_task
from ..envs import YamTaskEnv
from ..solvers import stack
from .. import conditions as C


@register_task("stack_cups")
class StackCupsTask(YamTaskEnv):
    title = "STACK TWO CUPS ON THE TARGET"
    tags = ["stacking", "precision", "robotwin-asset"]
    instruction = {"default": "Stack the cups on the target.",
                   "specific": "Put one cup on the marked square, then stack the second on top."}

    rw_objects = {"rw_cupA": "021_cup/base0.usd:0.075:0.08",
                  "rw_cupB": "021_cup/base1.usd:0.075:0.08"}
    cup_spawns = {"rw_cupA": (-0.05, 0.11), "rw_cupB": (0.05, 0.05)}
    spawn_jitter = (0.02, 0.015)
    target_xy = (0.02, -0.22)
    target_size = 0.12
    # RoboTwin cups spawn upside-down; inverted, the rim is at the bottom and the jaws grip a
    # narrowing taper, so they slip straight out
    cup_roll = 90
    gripper_effort, gripper_damping = 55, 72

    def _load_scene(self):
        self.scene.build_marker({"name": "target", "xy": self.target_xy, "size": self.target_size,
                                 "xy_jitter": (0.015, 0.015)})
        self._placed = [
            self.scene.place_object({"name": n, "xy": xy, "xy_jitter": self.spawn_jitter,
                                     "roll": self.cup_roll})
            for n, xy in self.cup_spawns.items()]

    def solve(self):
        return stack.solve(self, objects=list(self.cup_spawns), target="target")

    def evaluate(self):
        return self.check(
            C.labelled("bottom cup on target", C.object_in_region("rw_cupA", "target", pad=0.04)),
            C.labelled("top cup on target", C.object_in_region("rw_cupB", "target", pad=0.04)),
            C.labelled("cups stacked", C.objects_stacked("rw_cupA", "rw_cupB", min_dz=0.03)))