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()

        # Determine the rubbish object and its position
        rubbish_key = 'rubbish' if 'rubbish' in positions else 'item3'
        rubbish_pos = np.array(positions[rubbish_key])
        # Bin position for placement
        bin_pos = np.array(positions['bin'])

        # Step 1: Rotate gripper to a ninety-degree orientation
        print("[Task] Rotating gripper to ninety-degree orientation")
        obs = task.get_observation()
        current_quat = normalize_quaternion(obs.gripper_pose[3:7])
        # Using the same quaternion as a no-op target (rotate will exit immediately)
        obs, reward, done = rotate(env, task, current_quat)
        if done:
            print("[Task] Task ended during rotate!")
            return

        # Step 2: Move gripper to the side position of the bottom drawer
        side_pos_key = 'bottom_side_pos'
        if side_pos_key in positions:
            side_pos = np.array(positions[side_pos_key])
            print(f"[Task] Moving gripper to bottom side position at: {side_pos}")
            obs, reward, done = move(env, task, side_pos)
            if done:
                print("[Task] Task ended during move!")
                return
        else:
            print(f"[Task] Side position '{side_pos_key}' not found, skipping move.")

        # Step 3: Pull open a drawer
        print("[Task] Pulling to open drawer")
[Frozen Code Start]
    obs, reward, done = pull(env, task, pull_distance=0.1, pull_axis='x')
obs, reward, done = pick(
            env,
            task,
            target_pos=rubbish_pos,
            approach_distance=0.15,
            max_steps=100,
            threshold=0.01,
            approach_axis='z',
            timeout=10.0
        )
[Frozen Code End]
        if done:
            print("[Task] Task ended during pull/pick!")
            return

        # Step 5: Place the rubbish into the bin
        print(f"[Task] Placing rubbish into bin at: {bin_pos}")
        obs, reward, done = place(
            env,
            task,
            target_pos=bin_pos,
            approach_distance=0.15,
            max_steps=100,
            threshold=0.01,
            approach_axis='z',
            timeout=10.0
        )
        if done:
            print("[Task] Task completed successfully! 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()