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 *  # Importing predefined skills
from video import init_video_writers, recording_step, recording_get_observation

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 the positions for the drawer and gripper
        middle_anchor_pos = positions['middle_anchor_pos']
        side_pos_middle = positions['middle_side_pos']

        # === Execute the Plan ===
        # Step 1: Rotate the gripper to the correct orientation
        obs, reward, done = rotate(env, task, target_quat=np.array([0, 0, 0, 1]))  # Assuming zero rotation is needed

        # Step 2: Move to the side position of the middle drawer
        obs, reward, done = move(env, task, target_pos=side_pos_middle)

        # Step 3: Move to the anchor position of the middle drawer
        obs, reward, done = move(env, task, target_pos=middle_anchor_pos)

        # Step 4: Pick the middle drawer
        obs, reward, done = pick(env, task, obj='middle', loc=middle_anchor_pos)

        # Step 5: Pull the middle drawer to open it
        obs, reward, done = pull(env, task, pull_distance=0.1)  # Assuming a pull distance of 0.1

        print("[Task] Task completed successfully! Drawer opened.")

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

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


if __name__ == "__main__":
    run_skeleton_task()