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

"""
Utility to convert a MJCF into USD format.

MuJoCo XML Format (MJCF) is an XML file format used in MuJoCo to describe all elements of a robot. For more information, see: http://www.mujoco.org/book/XMLreference.html

This script uses the MJCF importer extension from Isaac Sim (``omni.isaac.mjcf_importer``) to convert a MJCF asset into USD format. It is designed as a convenience script for command-line use. For more information on the MJCF importer, see the documentation for the extension:
https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_mjcf.html


positional arguments:
  input               The path to the input URDF file.
  output              The path to store the USD file.

optional arguments:
  -h, --help                Show this help message and exit
  --fix-base                Fix the base to where it is imported. (default: False)
  --import-sites            Import sites by parse <site> tag. (default: True)
  --make-instanceable       Make the asset instanceable for efficient cloning. (default: False)

"""

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

import argparse

from omni.isaac.lab.app import AppLauncher

# add argparse arguments
parser = argparse.ArgumentParser(description="Utility to convert a MJCF into USD format.")
parser.add_argument("input", type=str, help="The path to the input MJCF file.")
parser.add_argument("output", type=str, help="The path to store the USD file.")
parser.add_argument("--fix-base", action="store_true", default=False, help="Fix the base to where it is imported.")
parser.add_argument(
    "--import-sites", action="store_true", default=False, help="Import sites by parsing the <site> tag."
)
parser.add_argument(
    "--make-instanceable",
    action="store_true",
    default=False,
    help="Make the asset instanceable for efficient cloning.",
)

# 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 contextlib
import os

import carb
import omni.isaac.core.utils.stage as stage_utils
import omni.kit.app

from omni.isaac.lab.sim.converters import MjcfConverter, MjcfConverterCfg
from omni.isaac.lab.utils.assets import check_file_path
from omni.isaac.lab.utils.dict import print_dict


def main():
    # check valid file path
    mjcf_path = args_cli.input
    if not os.path.isabs(mjcf_path):
        mjcf_path = os.path.abspath(mjcf_path)
    if not check_file_path(mjcf_path):
        raise ValueError(f"Invalid file path: {mjcf_path}")
    # create destination path
    dest_path = args_cli.output
    if not os.path.isabs(dest_path):
        dest_path = os.path.abspath(dest_path)

    # create the converter configuration
    mjcf_converter_cfg = MjcfConverterCfg(
        asset_path=mjcf_path,
        usd_dir=os.path.dirname(dest_path),
        usd_file_name=os.path.basename(dest_path),
        fix_base=args_cli.fix_base,
        import_sites=args_cli.import_sites,
        force_usd_conversion=True,
        make_instanceable=args_cli.make_instanceable,
    )

    # Print info
    print("-" * 80)
    print("-" * 80)
    print(f"Input MJCF file: {mjcf_path}")
    print("MJCF importer config:")
    print_dict(mjcf_converter_cfg.to_dict(), nesting=0)
    print("-" * 80)
    print("-" * 80)

    # Create mjcf converter and import the file
    mjcf_converter = MjcfConverter(mjcf_converter_cfg)
    # print output
    print("MJCF importer output:")
    print(f"Generated USD file: {mjcf_converter.usd_path}")
    print("-" * 80)
    print("-" * 80)

    # Determine if there is a GUI to update:
    # acquire settings interface
    carb_settings_iface = carb.settings.get_settings()
    # read flag for whether a local GUI is enabled
    local_gui = carb_settings_iface.get("/app/window/enabled")
    # read flag for whether livestreaming GUI is enabled
    livestream_gui = carb_settings_iface.get("/app/livestream/enabled")

    # Simulate scene (if not headless)
    if local_gui or livestream_gui:
        # Open the stage with USD
        stage_utils.open_stage(mjcf_converter.usd_path)
        # Reinitialize the simulation
        app = omni.kit.app.get_app_interface()
        # Run simulation
        with contextlib.suppress(KeyboardInterrupt):
            while app.is_running():
                # perform step
                app.update()


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