# Copyright (c) 2024-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: Apache-2.0

from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
from isaaclab.utils import configclass

from isaaclab_tasks.manager_based.manipulation.pick_place.pickplace_gr1t2_waist_enabled_env_cfg import (
    PickPlaceGR1T2WaistEnabledEnvCfg,
)


@configclass
class PickPlaceGR1T2WaistEnabledMimicEnvCfg(PickPlaceGR1T2WaistEnabledEnvCfg, MimicEnvCfg):
    """Configuration for GR1T2 Pick Place Waist Enabled Mimic environment."""

    def __post_init__(self):
        # Calling post init of parents
        super().__post_init__()

        # Override the existing values
        self.datagen_config.name = "gr1t2_pick_place_waist_enabled_D0"
        self.datagen_config.generation_guarantee = True
        self.datagen_config.generation_keep_failed = False
        self.datagen_config.generation_num_trials = 1000
        self.datagen_config.generation_select_src_per_subtask = False
        self.datagen_config.generation_select_src_per_arm = False
        self.datagen_config.generation_relative = False
        self.datagen_config.generation_joint_pos = False
        self.datagen_config.generation_transform_first_robot_pose = False
        self.datagen_config.generation_interpolate_from_last_target_pose = True
        self.datagen_config.max_num_failures = 25
        self.datagen_config.num_demo_to_render = 10
        self.datagen_config.num_fail_demo_to_render = 25
        self.datagen_config.seed = 1

        # The following are the subtask configurations for the stack task.
        subtask_configs = []
        subtask_configs.append(
            SubTaskConfig(
                # Each subtask involves manipulation with respect to a single object frame.
                object_ref="object",
                # This key corresponds to the binary indicator in "datagen_info" that signals
                # when this subtask is finished (e.g., on a 0 to 1 edge).
                subtask_term_signal="idle_right",
                first_subtask_start_offset_range=(0, 0),
                # Randomization range for starting index of the first subtask
                subtask_term_offset_range=(0, 0),
                # Selection strategy for the source subtask segment during data generation
                # selection_strategy="nearest_neighbor_object",
                selection_strategy="nearest_neighbor_object",
                # Optional parameters for the selection strategy function
                selection_strategy_kwargs={"nn_k": 3},
                # Amount of action noise to apply during this subtask
                action_noise=0.003,
                # Number of interpolation steps to bridge to this subtask segment
                num_interpolation_steps=0,
                # Additional fixed steps for the robot to reach the necessary pose
                num_fixed_steps=0,
                # If True, apply action noise during the interpolation phase and execution
                apply_noise_during_interpolation=False,
            )
        )
        subtask_configs.append(
            SubTaskConfig(
                # Each subtask involves manipulation with respect to a single object frame.
                object_ref="object",
                # Corresponding key for the binary indicator in "datagen_info" for completion
                subtask_term_signal=None,
                # Time offsets for data generation when splitting a trajectory
                subtask_term_offset_range=(0, 0),
                # Selection strategy for source subtask segment
                selection_strategy="nearest_neighbor_object",
                # Optional parameters for the selection strategy function
                selection_strategy_kwargs={"nn_k": 3},
                # Amount of action noise to apply during this subtask
                action_noise=0.003,
                # Number of interpolation steps to bridge to this subtask segment
                num_interpolation_steps=3,
                # Additional fixed steps for the robot to reach the necessary pose
                num_fixed_steps=0,
                # If True, apply action noise during the interpolation phase and execution
                apply_noise_during_interpolation=False,
            )
        )
        self.subtask_configs["right"] = subtask_configs

        subtask_configs = []
        subtask_configs.append(
            SubTaskConfig(
                # Each subtask involves manipulation with respect to a single object frame.
                object_ref="object",
                # Corresponding key for the binary indicator in "datagen_info" for completion
                subtask_term_signal=None,
                # Time offsets for data generation when splitting a trajectory
                subtask_term_offset_range=(0, 0),
                # Selection strategy for source subtask segment
                selection_strategy="nearest_neighbor_object",
                # Optional parameters for the selection strategy function
                selection_strategy_kwargs={"nn_k": 3},
                # Amount of action noise to apply during this subtask
                action_noise=0.003,
                # Number of interpolation steps to bridge to this subtask segment
                num_interpolation_steps=0,
                # Additional fixed steps for the robot to reach the necessary pose
                num_fixed_steps=0,
                # If True, apply action noise during the interpolation phase and execution
                apply_noise_during_interpolation=False,
            )
        )
        self.subtask_configs["left"] = subtask_configs
