# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""
Cartpole balancing environment.
"""

import gymnasium as gym

from . import agents

##
# Register Gym environments.
##

task_entry = "omni.isaac.lab_tasks.manager_based.classic.cartpole"

gym.register(
    id="Isaac-Cartpole-v0",
    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{task_entry}.cartpole_env_cfg:CartpoleEnvCfg",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
        "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
    },
)

gym.register(
    id="Isaac-Cartpole-RGB-v0",
    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
    },
)

gym.register(
    id="Isaac-Cartpole-Depth-v0",
    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleDepthCameraEnvCfg",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
    },
)

gym.register(
    id="Isaac-Cartpole-RGB-ResNet18-v0",
    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleResNet18CameraEnvCfg",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_feature_ppo_cfg.yaml",
    },
)

gym.register(
    id="Isaac-Cartpole-RGB-TheiaTiny-v0",
    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleTheiaTinyCameraEnvCfg",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_feature_ppo_cfg.yaml",
    },
)
