import sys
from legged_gym import LEGGED_GYM_ROOT_DIR
import os
import sys
from legged_gym import LEGGED_GYM_ROOT_DIR

import isaacgym
from legged_gym.envs import *
from legged_gym.utils import  get_args, export_policy_as_jit, task_registry, Logger

import numpy as np
import torch


def play(args):
    env_cfg, train_cfg = task_registry.get_cfgs(name=args.task)
    # override some parameters for testing
    env_cfg.env.num_envs = min(env_cfg.env.num_envs, 100)
    env_cfg.terrain.num_rows = 5
    env_cfg.terrain.num_cols = 5
    env_cfg.terrain.curriculum = False
    env_cfg.noise.add_noise = False
    env_cfg.domain_rand.randomize_friction = False
    env_cfg.domain_rand.push_robots = False

    env_cfg.env.test = True

    # prepare environment
    env, _ = task_registry.make_env(name=args.task, args=args, env_cfg=env_cfg)
    obs = env.get_observations()
    # load policy
    train_cfg.runner.resume = True
    ppo_runner, train_cfg = task_registry.make_alg_runner(env=env, name=args.task, args=args, train_cfg=train_cfg)
    policy = ppo_runner.get_inference_policy(device=env.device)
    
    # Define the joint orders for sim A and sim B
    sim_a_joints = [
        'left_hip_pitch_joint',
        'right_hip_pitch_joint',
        'waist_yaw_joint',
        'left_hip_roll_joint',
        'right_hip_roll_joint',
        'waist_roll_joint',
        'left_hip_yaw_joint',
        'right_hip_yaw_joint',
        'waist_pitch_joint',
        'left_knee_joint',
        'right_knee_joint',
        'left_shoulder_pitch_joint',
        'right_shoulder_pitch_joint',
        'left_ankle_pitch_joint',
        'right_ankle_pitch_joint',
        'left_shoulder_roll_joint',
        'right_shoulder_roll_joint',
        'left_ankle_roll_joint',
        'right_ankle_roll_joint',
        'left_shoulder_yaw_joint',
        'right_shoulder_yaw_joint',
        'left_elbow_joint',
        'right_elbow_joint',
        'left_wrist_roll_joint',
        'right_wrist_roll_joint',
        'left_wrist_pitch_joint',
        'right_wrist_pitch_joint',
        'left_wrist_yaw_joint',
        'right_wrist_yaw_joint'
    ]

    sim_b_joints = [
        'left_hip_pitch_joint',
        'left_hip_roll_joint',
        'left_hip_yaw_joint',
        'left_knee_joint',
        'left_ankle_pitch_joint',
        'left_ankle_roll_joint',
        'right_hip_pitch_joint',
        'right_hip_roll_joint',
        'right_hip_yaw_joint',
        'right_knee_joint',
        'right_ankle_pitch_joint',
        'right_ankle_roll_joint',
        'waist_yaw_joint',
        'waist_roll_joint',
        'waist_pitch_joint',
        'left_shoulder_pitch_joint',
        'left_shoulder_roll_joint',
        'left_shoulder_yaw_joint',
        'left_elbow_joint',
        'left_wrist_roll_joint',
        'left_wrist_pitch_joint',
        'left_wrist_yaw_joint',
        'right_shoulder_pitch_joint',
        'right_shoulder_roll_joint',
        'right_shoulder_yaw_joint',
        'right_elbow_joint',
        'right_wrist_roll_joint',
        'right_wrist_pitch_joint',
        'right_wrist_yaw_joint'
    ]

    # Create a mapping tensor
    mapping_tensor = torch.zeros((len(sim_b_joints), len(sim_a_joints)), device=env.device)

    # Fill the mapping tensor
    for b_idx, b_joint in enumerate(sim_b_joints):
        if b_joint in sim_a_joints:
            a_idx = sim_a_joints.index(b_joint)
            # mapping_tensor[b_idx, a_idx] = 1.0
            mapping_tensor[a_idx, b_idx] = 1.0
    # export policy as a jit module (used to run it from C++)
    if EXPORT_POLICY:
        path = os.path.join(LEGGED_GYM_ROOT_DIR, 'logs', train_cfg.runner.experiment_name, 'exported', 'policies')
        export_policy_as_jit(ppo_runner.alg.actor_critic, path)
        print('Exported policy as jit script to: ', path)

    for i in range(10*int(env.max_episode_length)):
        obs[..., 9:38] = obs[..., 9:38] @ mapping_tensor.transpose(0, 1)
        obs[..., 38:67] = obs[..., 38:67] @ mapping_tensor.transpose(0, 1)
        obs[..., 67:96] = obs[..., 67:96] @ mapping_tensor.transpose(0, 1)
        # from icecream import ic
        # ic(
        #     obs[..., :9],
        #     obs[..., 9:38],
        #     obs[..., 38:67],
        #     obs[..., 67:96],

        # )
        actions = policy(obs.detach())
        # ic(
        #     actions
        # )
        reordered_actions = actions @ mapping_tensor
        # obs, _, rews, dones, infos = env.step(actions.detach())
        obs, _, rews, dones, infos = env.step(reordered_actions.detach())

if __name__ == '__main__':
    EXPORT_POLICY = True
    # EXPORT_POLICY = False
    RECORD_FRAMES = False
    MOVE_CAMERA = False
    args = get_args()
    play(args)