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

import gymnasium as gym

from . import agents

##
# Register Gym environments.
##

task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.cassie"

gym.register(
    id="Isaac-Velocity-Flat-Cassie-v0",
    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg",
        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieFlatPPORunnerCfg",
        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
    },
)

gym.register(
    id="Isaac-Velocity-Flat-Cassie-Play-v0",
    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg_PLAY",
        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieFlatPPORunnerCfg",
        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
    },
)

gym.register(
    id="Isaac-Velocity-Rough-Cassie-v0",
    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg",
        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieRoughPPORunnerCfg",
        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
    },
)

gym.register(
    id="Isaac-Velocity-Rough-Cassie-Play-v0",
    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg_PLAY",
        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieRoughPPORunnerCfg",
        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
    },
)
