import numpy as np
from pyrep.objects.shape import Shape
from pyrep.objects.proximity_sensor import ProximitySensor

from env import setup_environment, shutdown_environment

from skill_code import *

from video import init_video_writers, recording_step, recording_get_observation

from object_positions import get_object_positions


def run_skeleton_task():
    '''Generic skeleton for running any task in your simulation.'''
    print("===== Starting Skeleton Task =====")
    
    # === Environment Setup ===
    env, task = setup_environment()
    try:
        # Reset the task to its initial state
        descriptions, obs = task.reset()

        # (Optional) Initialize video writers for capturing your simulation
        init_video_writers(obs)

        # Wrap the task steps for recording (if needed)
        original_step = task.step
        task.step = recording_step(original_step)
        original_get_obs = task.get_observation
        task.get_observation = recording_get_observation(original_get_obs)

        # === Retrieve Object Positions ===
        positions = get_object_positions()

        # === Oracle Plan Execution ===
        try:
            # Step 1: Pick the rubbish from the table
            rubbish_pos = positions.get('rubbish')
            if rubbish_pos is None:
                raise KeyError("Position for 'rubbish' not found in the environment.")
            print(f"[Task] Picking 'rubbish' at: {rubbish_pos}")
            obs, reward, done = pick(env, task, rubbish_pos)
            if done:
                print("[Task] Task ended prematurely after pick.")
                return

            # Step 2: Place the rubbish into the bin
            bin_pos = positions.get('bin')
            if bin_pos is None:
                raise KeyError("Position for 'bin' not found in the environment.")
            print(f"[Task] Placing 'rubbish' into 'bin' at: {bin_pos}")
            obs, reward, done = place(env, task, bin_pos)
            if done:
                print(f"[Task] Task completed successfully! Reward: {reward}")
            else:
                print("[Task] Task not completed yet (done=False).")

        except KeyError as ke:
            print(f"[Task] Missing object position: {ke}")
        except Exception as e:
            print(f"[Task] Exception during plan execution: {e}")

    finally:
        # Always ensure the environment is properly shutdown
        shutdown_environment(env)

    print("===== End of Skeleton Task =====")


if __name__ == "__main__":
    run_skeleton_task()