# Copyright (c) 2022-2023, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""
This script checks if the debug markers are visible from the camera.

To check if the markers are visible on different rendering modalities, you can switch them by going
through the synthetic data generation tool in the Isaac Sim UI. For more information,
please check: https://www.youtube.com/watch?v=vLk-f9LWj48&ab_channel=NVIDIAOmniverse

.. code-block:: bash

    # Usage
    ./orbit.sh -p source/extensions/omni.isaac.orbit/test/markers/check_markers_visibility.py

"""

from __future__ import annotations

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


import argparse

from omni.isaac.orbit.app import AppLauncher

# add argparse arguments
parser = argparse.ArgumentParser(description="Check if the debug markers are visible from the camera.")
parser.add_argument("--num_envs", type=int, default=2, 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 traceback

import carb

import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg
from omni.isaac.orbit.sensors import RayCasterCfg, patterns
from omni.isaac.orbit.utils import configclass

##
# Pre-defined configs
##
from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG  # isort:skip


@configclass
class SensorsSceneCfg(InteractiveSceneCfg):
    """Design the scene with sensors on the robot."""

    # 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))
    )

    # robot
    robot: ArticulationCfg = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")

    # sensors
    height_scanner = RayCasterCfg(
        prim_path="{ENV_REGEX_NS}/Robot/base",
        update_period=0.02,
        offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
        attach_yaw_only=True,
        pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
        debug_vis=True,
        mesh_prim_paths=["/World/defaultGroundPlane"],
    )


def run_simulator(
    sim: sim_utils.SimulationContext,
    scene: InteractiveScene,
):
    """Run the simulator."""

    # Define simulation stepping
    sim_dt = sim.get_physics_dt()
    sim_time = 0.0
    count = 0

    # Simulate physics
    while simulation_app.is_running():
        # Reset
        if count % 500 == 0:
            # reset counter
            count = 0
            # reset the scene entities
            # root state
            root_state = scene["robot"].data.default_root_state.clone()
            root_state[:, :3] += scene.env_origins
            scene["robot"].write_root_state_to_sim(root_state)
            # set joint positions with some noise
            joint_pos, joint_vel = (
                scene["robot"].data.default_joint_pos.clone(),
                scene["robot"].data.default_joint_vel.clone(),
            )
            scene["robot"].write_joint_state_to_sim(joint_pos, joint_vel)
            # clear internal buffers
            scene.reset()
            print("[INFO]: Resetting robot state...")
        # Apply default actions to the robot
        # -- generate actions/commands
        targets = scene["robot"].data.default_joint_pos
        # -- apply action to the robot
        scene["robot"].set_joint_position_target(targets)
        # -- write data to sim
        scene.write_data_to_sim()
        # perform step
        sim.step()
        # update sim-time
        sim_time += sim_dt
        count += 1
        # update buffers
        scene.update(sim_dt)


def main():
    """Main function."""

    # Initialize the simulation context
    sim_cfg = sim_utils.SimulationCfg(dt=0.005, substeps=1)
    sim = sim_utils.SimulationContext(sim_cfg)
    # Set main camera
    sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])
    # design scene
    scene_cfg = SensorsSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0)
    scene = InteractiveScene(scene_cfg)
    # Play the simulator
    sim.reset()
    # Now we are ready!
    print("[INFO]: Setup complete...")
    # Run the simulator
    run_simulator(sim, scene)


if __name__ == "__main__":
    try:
        # run the main execution
        main()
    except Exception as err:
        carb.log_error(err)
        carb.log_error(traceback.format_exc())
        raise
    finally:
        # close sim app
        simulation_app.close()
