# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""This script demonstrates how to spawn multiple objects in multiple environments.

.. code-block:: bash

    # Usage
    ./isaaclab.sh -p scripts/demos/multi_asset.py --num_envs 2048

"""

from __future__ import annotations

"""Launch Isaac Sim Simulator first."""


import argparse

from isaaclab.app import AppLauncher

# add argparse arguments
parser = argparse.ArgumentParser(description="Demo on spawning different objects in multiple environments.")
parser.add_argument("--num_envs", type=int, default=512, help="Number of environments to spawn.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()

# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app

"""Rest everything follows."""

import random

from isaacsim.core.utils.stage import get_current_stage
from pxr import Gf, Sdf

import isaaclab.sim as sim_utils
from isaaclab.assets import (
    Articulation,
    ArticulationCfg,
    AssetBaseCfg,
    RigidObject,
    RigidObjectCfg,
    RigidObjectCollection,
    RigidObjectCollectionCfg,
)
from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
from isaaclab.sim import SimulationContext
from isaaclab.utils import Timer, configclass
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR

##
# Pre-defined Configuration
##

from isaaclab_assets.robots.anymal import ANYDRIVE_3_LSTM_ACTUATOR_CFG  # isort: skip


##
# Randomization events.
##


def randomize_shape_color(prim_path_expr: str):
    """Randomize the color of the geometry."""
    # get stage handle
    stage = get_current_stage()
    # resolve prim paths for spawning and cloning
    prim_paths = sim_utils.find_matching_prim_paths(prim_path_expr)
    # manually clone prims if the source prim path is a regex expression
    with Sdf.ChangeBlock():
        for prim_path in prim_paths:
            # spawn single instance
            prim_spec = Sdf.CreatePrimInLayer(stage.GetRootLayer(), prim_path)

            # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE!
            # Note: Just need to acquire the right attribute about the property you want to set
            # Here is an example on setting color randomly
            color_spec = prim_spec.GetAttributeAtPath(prim_path + "/geometry/material/Shader.inputs:diffuseColor")
            color_spec.default = Gf.Vec3f(random.random(), random.random(), random.random())


##
# Scene Configuration
##


@configclass
class MultiObjectSceneCfg(InteractiveSceneCfg):
    """Configuration for a multi-object scene."""

    # ground plane
    ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg())

    # lights
    dome_light = AssetBaseCfg(
        prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
    )

    # rigid object
    object: RigidObjectCfg = RigidObjectCfg(
        prim_path="/World/envs/env_.*/Object",
        spawn=sim_utils.MultiAssetSpawnerCfg(
            assets_cfg=[
                sim_utils.ConeCfg(
                    radius=0.3,
                    height=0.6,
                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
                ),
                sim_utils.CuboidCfg(
                    size=(0.3, 0.3, 0.3),
                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
                ),
                sim_utils.SphereCfg(
                    radius=0.3,
                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2),
                ),
            ],
            random_choice=True,
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                solver_position_iteration_count=4, solver_velocity_iteration_count=0
            ),
            mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
            collision_props=sim_utils.CollisionPropertiesCfg(),
        ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 2.0)),
    )

    # object collection
    object_collection: RigidObjectCollectionCfg = RigidObjectCollectionCfg(
        rigid_objects={
            "object_A": RigidObjectCfg(
                prim_path="/World/envs/env_.*/Object_A",
                spawn=sim_utils.SphereCfg(
                    radius=0.1,
                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
                    rigid_props=sim_utils.RigidBodyPropertiesCfg(
                        solver_position_iteration_count=4, solver_velocity_iteration_count=0
                    ),
                    mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
                    collision_props=sim_utils.CollisionPropertiesCfg(),
                ),
                init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.5, 2.0)),
            ),
            "object_B": RigidObjectCfg(
                prim_path="/World/envs/env_.*/Object_B",
                spawn=sim_utils.CuboidCfg(
                    size=(0.1, 0.1, 0.1),
                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
                    rigid_props=sim_utils.RigidBodyPropertiesCfg(
                        solver_position_iteration_count=4, solver_velocity_iteration_count=0
                    ),
                    mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
                    collision_props=sim_utils.CollisionPropertiesCfg(),
                ),
                init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.5, 2.0)),
            ),
            "object_C": RigidObjectCfg(
                prim_path="/World/envs/env_.*/Object_C",
                spawn=sim_utils.ConeCfg(
                    radius=0.1,
                    height=0.3,
                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
                    rigid_props=sim_utils.RigidBodyPropertiesCfg(
                        solver_position_iteration_count=4, solver_velocity_iteration_count=0
                    ),
                    mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
                    collision_props=sim_utils.CollisionPropertiesCfg(),
                ),
                init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 2.0)),
            ),
        }
    )

    # articulation
    robot: ArticulationCfg = ArticulationCfg(
        prim_path="/World/envs/env_.*/Robot",
        spawn=sim_utils.MultiUsdFileCfg(
            usd_path=[
                f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
                f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
            ],
            random_choice=True,
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
                disable_gravity=False,
                retain_accelerations=False,
                linear_damping=0.0,
                angular_damping=0.0,
                max_linear_velocity=1000.0,
                max_angular_velocity=1000.0,
                max_depenetration_velocity=1.0,
            ),
            articulation_props=sim_utils.ArticulationRootPropertiesCfg(
                enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0
            ),
            activate_contact_sensors=True,
        ),
        init_state=ArticulationCfg.InitialStateCfg(
            pos=(0.0, 0.0, 0.6),
            joint_pos={
                ".*HAA": 0.0,  # all HAA
                ".*F_HFE": 0.4,  # both front HFE
                ".*H_HFE": -0.4,  # both hind HFE
                ".*F_KFE": -0.8,  # both front KFE
                ".*H_KFE": 0.8,  # both hind KFE
            },
        ),
        actuators={"legs": ANYDRIVE_3_LSTM_ACTUATOR_CFG},
    )


##
# Simulation Loop
##


def run_simulator(sim: SimulationContext, scene: InteractiveScene):
    """Runs the simulation loop."""
    # Extract scene entities
    # note: we only do this here for readability.
    rigid_object: RigidObject = scene["object"]
    rigid_object_collection: RigidObjectCollection = scene["object_collection"]
    robot: Articulation = scene["robot"]
    # Define simulation stepping
    sim_dt = sim.get_physics_dt()
    count = 0
    # Simulation loop
    while simulation_app.is_running():
        # Reset
        if count % 250 == 0:
            # reset counter
            count = 0
            # reset the scene entities
            # object
            root_state = rigid_object.data.default_root_state.clone()
            root_state[:, :3] += scene.env_origins
            rigid_object.write_root_pose_to_sim(root_state[:, :7])
            rigid_object.write_root_velocity_to_sim(root_state[:, 7:])
            # object collection
            object_state = rigid_object_collection.data.default_object_state.clone()
            object_state[..., :3] += scene.env_origins.unsqueeze(1)
            rigid_object_collection.write_object_link_pose_to_sim(object_state[..., :7])
            rigid_object_collection.write_object_com_velocity_to_sim(object_state[..., 7:])
            # robot
            # -- root state
            root_state = robot.data.default_root_state.clone()
            root_state[:, :3] += scene.env_origins
            robot.write_root_pose_to_sim(root_state[:, :7])
            robot.write_root_velocity_to_sim(root_state[:, 7:])
            # -- joint state
            joint_pos, joint_vel = robot.data.default_joint_pos.clone(), robot.data.default_joint_vel.clone()
            robot.write_joint_state_to_sim(joint_pos, joint_vel)
            # clear internal buffers
            scene.reset()
            print("[INFO]: Resetting scene state...")

        # Apply action to robot
        robot.set_joint_position_target(robot.data.default_joint_pos)
        # Write data to sim
        scene.write_data_to_sim()
        # Perform step
        sim.step()
        # Increment counter
        count += 1
        # Update buffers
        scene.update(sim_dt)


def main():
    """Main function."""
    # Load kit helper
    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
    sim = SimulationContext(sim_cfg)
    # Set main camera
    sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])

    # Design scene
    scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0, replicate_physics=False)
    with Timer("[INFO] Time to create scene: "):
        scene = InteractiveScene(scene_cfg)

    with Timer("[INFO] Time to randomize scene: "):
        # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE!
        # Note: Just need to acquire the right attribute about the property you want to set
        # Here is an example on setting color randomly
        randomize_shape_color(scene_cfg.object.prim_path)

    # Play the simulator
    sim.reset()
    # Now we are ready!
    print("[INFO]: Setup complete...")
    # Run the simulator
    run_simulator(sim, scene)


if __name__ == "__main__":
    # run the main execution
    main()
    # close sim app
    simulation_app.close()
