# run_skeleton_task.py
# Description:
#  - This code sets up the environment, retrieves object positions, and
#    executes the oracle plan using predefined skills: pick and place.
#  - Do not modify imports or redefine any skills.

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()

        # 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()
        tomato1_pos = positions['tomato1']
        tomato2_pos = positions['tomato2']
        plate_pos   = positions['plate']

        # === Oracle Plan Execution ===

        # Step 1: pick tomato1 from the table
        print("[Task] Step 1: Picking tomato1 at:", tomato1_pos)
[Frozen Code Start]
    obs, reward, done = pick(
            env,
            task,
            target_pos=tomato1_pos,
        )
[Frozen Code End]
        if done:
            print("[Task] Ended during pick(tomato1). Reward:", reward)
            return

        # Step 2: place tomato1 onto the plate
        print("[Task] Step 2: Placing tomato1 onto plate at:", plate_pos)
        obs, reward, done = place(
            env,
            task,
            target_pos=plate_pos,
        )
        if done:
            print("[Task] Ended during place(tomato1). Reward:", reward)
            return

        # Step 3: pick tomato2 from the table
        print("[Task] Step 3: Picking tomato2 at:", tomato2_pos)
        obs, reward, done = pick(
            env,
            task,
            target_pos=tomato2_pos,
        )
        if done:
            print("[Task] Ended during pick(tomato2). Reward:", reward)
            return

        # Step 4: place tomato2 onto the plate
        print("[Task] Step 4: Placing tomato2 onto plate at:", plate_pos)
        obs, reward, done = place(
            env,
            task,
            target_pos=plate_pos,
        )
        if done:
            print("[Task] Ended during place(tomato2). Reward:", reward)
            return

        print("[Task] Completed all steps successfully. Final reward:", reward)

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

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


if __name__ == "__main__":
    run_skeleton_task()