# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Script to an environment with random action agent."""

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


import argparse

from omni.isaac.kit import SimulationApp

# add argparse arguments
parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
parser.add_argument("--task", type=str, default=None, help="Name of the task.")
args_cli = parser.parse_args()

# launch the simulator
config = {"headless": args_cli.headless}
simulation_app = SimulationApp(config)

"""Rest everything follows."""


import gym
import torch

import omni.isaac.contrib_envs  # noqa: F401
import omni.isaac.orbit_envs  # noqa: F401
from omni.isaac.orbit_envs.utils import parse_env_cfg


def main():
    """Random actions agent with Isaac Orbit environment."""
    # parse configuration
    env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
    # create environment
    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)

    # reset environment
    env.reset()
    # simulate environment
    while simulation_app.is_running():
        # sample actions from -1 to 1
        actions = 2 * torch.rand((env.num_envs, env.action_space.shape[0]), device=env.device) - 1
        # apply actions
        _, _, _, _ = env.step(actions)
        # check if simulator is stopped
        if env.unwrapped.sim.is_stopped():
            break

    # close the simulator
    env.close()
    simulation_app.close()


if __name__ == "__main__":
    main()
