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

from dataclasses import MISSING
from typing import Literal

from omni.isaac.lab.utils import configclass

from .differential_ik import DifferentialIKController


@configclass
class DifferentialIKControllerCfg:
    """Configuration for differential inverse kinematics controller."""

    class_type: type = DifferentialIKController
    """The associated controller class."""

    command_type: Literal["position", "pose"] = MISSING
    """Type of task-space command to control the articulation's body.

    If "position", then the controller only controls the position of the articulation's body.
    Otherwise, the controller controls the pose of the articulation's body.
    """

    use_relative_mode: bool = False
    """Whether to use relative mode for the controller. Defaults to False.

    If True, then the controller treats the input command as a delta change in the position/pose.
    Otherwise, the controller treats the input command as the absolute position/pose.
    """

    ik_method: Literal["pinv", "svd", "trans", "dls"] = MISSING
    """Method for computing inverse of Jacobian."""

    ik_params: dict[str, float] | None = None
    """Parameters for the inverse-kinematics method. Defaults to None, in which case the default
    parameters for the method are used.

    - Moore-Penrose pseudo-inverse ("pinv"):
        - "k_val": Scaling of computed delta-joint positions (default: 1.0).
    - Adaptive Singular Value Decomposition ("svd"):
        - "k_val": Scaling of computed delta-joint positions (default: 1.0).
        - "min_singular_value": Single values less than this are suppressed to zero (default: 1e-5).
    - Jacobian transpose ("trans"):
        - "k_val": Scaling of computed delta-joint positions (default: 1.0).
    - Damped Moore-Penrose pseudo-inverse ("dls"):
        - "lambda_val": Damping coefficient (default: 0.01).
    """

    def __post_init__(self):
        # check valid input
        if self.command_type not in ["position", "pose"]:
            raise ValueError(f"Unsupported inverse-kinematics command: {self.command_type}.")
        if self.ik_method not in ["pinv", "svd", "trans", "dls"]:
            raise ValueError(f"Unsupported inverse-kinematics method: {self.ik_method}.")
        # default parameters for different inverse kinematics approaches.
        default_ik_params = {
            "pinv": {"k_val": 1.0},
            "svd": {"k_val": 1.0, "min_singular_value": 1e-5},
            "trans": {"k_val": 1.0},
            "dls": {"lambda_val": 0.01},
        }
        # update parameters for IK-method if not provided
        ik_params = default_ik_params[self.ik_method].copy()
        if self.ik_params is not None:
            ik_params.update(self.ik_params)
        self.ik_params = ik_params
