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
        drawer_position = positions['bottom_anchor_pos']  # Assuming we want to open the bottom drawer
        plate_position = positions['plate']  # Position to place the tomatoes

        # Step 1: Rotate the gripper to the correct angle
        print("[Task] Rotating gripper to 90 degrees...")
        obs, reward, done = rotate(env, task, target_quat=np.array([0, 0, np.sin(np.pi/4), np.cos(np.pi/4)]))  # Rotate to 90 degrees
        if done:
            print("[Task] Task ended after rotating the gripper!")
            return

        # Step 2: Move to the side position of the drawer
        print("[Task] Moving to the side position of the drawer...")
        obs, reward, done = move(env, task, target_pos=positions['bottom_side_pos'])
        if done:
            print("[Task] Task ended after moving to the side position!")
            return

        # Step 3: Move to the anchor position of the drawer
        print("[Task] Moving to the anchor position of the drawer...")
        obs, reward, done = move(env, task, target_pos=positions['bottom_anchor_pos'])
        if done:
            print("[Task] Task ended after moving to the anchor position!")
            return

        # Step 4: Pick the drawer
        print("[Task] Picking the drawer...")
        obs, reward, done = pick_drawer(env, task, 'gripper', 'bottom', positions['bottom_anchor_pos'])
        if done:
            print("[Task] Task ended after picking the drawer!")
            return

        # Step 5: Pull the drawer open
        print("[Task] Pulling the drawer open...")
        obs, reward, done = pull(env, task, pull_distance=0.1)  # Assuming a pull distance of 0.1
        if done:
            print("[Task] Task ended after pulling the drawer!")
            return

        # Step 6: Pick up the first tomato
        print("[Task] Picking up the first tomato...")
        obs, reward, done = pick(env, task, 'item1', 'table')
        if done:
            print("[Task] Task ended after picking up item1!")
            return

        # Step 7: Place the first tomato on the plate
        print("[Task] Placing the first tomato on the plate...")
        obs, reward, done = place(env, task, 'item1', plate_position)
        if done:
            print("[Task] Task completed successfully after placing item1! Reward:", reward)
        else:
            print("[Task] Task not completed yet (done=False).")

        # Step 8: Pick up the second tomato
        print("[Task] Picking up the second tomato...")
        obs, reward, done = pick(env, task, 'item2', 'table')
        if done:
            print("[Task] Task ended after picking up item2!")
            return

        # Step 9: Place the second tomato on the plate
        print("[Task] Placing the second tomato on the plate...")
        obs, reward, done = place(env, task, 'item2', plate_position)
        if done:
            print("[Task] Task completed successfully after placing item2! Reward:", reward)
        else:
            print("[Task] Task not completed yet (done=False).")

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

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

if __name__ == "__main__":
    run_skeleton_task()