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()

        # Define object positions
        table_pos = positions['table']
        bin_pos = positions['bin']
        rubbish_pos = positions['item1']  # Assuming item1 is the rubbish

        # Step 1: Pull to open an accessible drawer
        print("[Task] Opening drawer...")
        obs, reward, done = pull(env, task, pull_distance=0.1, pull_axis='y', max_steps=100, threshold=0.01, timeout=10.0)
        if done:
            print("[Task] Drawer opened successfully!")
        else:
            print("[Task] Failed to open the drawer.")

        # Step 2: Pick up the rubbish
        print("[Task] Picking up the rubbish...")
        obs, reward, done = pick(env, task, 'rubbish', 'table')
        if done:
            print("[Task] Rubbish picked successfully!")
        else:
            print("[Task] Failed to pick up the rubbish.")

        # Step 3: Place the rubbish in the bin
        print("[Task] Placing the rubbish in the bin...")
        obs, reward, done = place(env, task, 'rubbish', 'bin')
        if done:
            print("[Task] Rubbish placed in the bin successfully!")
        else:
            print("[Task] Failed to place the rubbish in the bin.")

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

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

if __name__ == "__main__":
    run_skeleton_task()