# Copyright (c) 2024-2025, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: Apache-2.0

"""Sub-package with environment wrappers for Isaac Lab Mimic."""

import gymnasium as gym

from .franka_stack_ik_abs_mimic_env import FrankaCubeStackIKAbsMimicEnv
from .franka_stack_ik_abs_mimic_env_cfg import FrankaCubeStackIKAbsMimicEnvCfg
from .franka_stack_ik_rel_blueprint_mimic_env_cfg import FrankaCubeStackIKRelBlueprintMimicEnvCfg
from .franka_stack_ik_rel_mimic_env import FrankaCubeStackIKRelMimicEnv
from .franka_stack_ik_rel_mimic_env_cfg import FrankaCubeStackIKRelMimicEnvCfg
from .franka_stack_ik_rel_visuomotor_mimic_env_cfg import FrankaCubeStackIKRelVisuomotorMimicEnvCfg
from .pickplace_gr1t2_mimic_env import PickPlaceGR1T2MimicEnv
from .pickplace_gr1t2_mimic_env_cfg import PickPlaceGR1T2MimicEnvCfg

##
# Inverse Kinematics - Relative Pose Control
##

gym.register(
    id="Isaac-Stack-Cube-Franka-IK-Rel-Mimic-v0",
    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKRelMimicEnv",
    kwargs={
        "env_cfg_entry_point": franka_stack_ik_rel_mimic_env_cfg.FrankaCubeStackIKRelMimicEnvCfg,
    },
    disable_env_checker=True,
)

gym.register(
    id="Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-Mimic-v0",
    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKRelMimicEnv",
    kwargs={
        "env_cfg_entry_point": franka_stack_ik_rel_blueprint_mimic_env_cfg.FrankaCubeStackIKRelBlueprintMimicEnvCfg,
    },
    disable_env_checker=True,
)

gym.register(
    id="Isaac-Stack-Cube-Franka-IK-Abs-Mimic-v0",
    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKAbsMimicEnv",
    kwargs={
        "env_cfg_entry_point": franka_stack_ik_abs_mimic_env_cfg.FrankaCubeStackIKAbsMimicEnvCfg,
    },
    disable_env_checker=True,
)

gym.register(
    id="Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-Mimic-v0",
    entry_point="isaaclab_mimic.envs:FrankaCubeStackIKRelMimicEnv",
    kwargs={
        "env_cfg_entry_point": franka_stack_ik_rel_visuomotor_mimic_env_cfg.FrankaCubeStackIKRelVisuomotorMimicEnvCfg,
    },
    disable_env_checker=True,
)

gym.register(
    id="Isaac-PickPlace-GR1T2-Abs-Mimic-v0",
    entry_point="isaaclab_mimic.envs:PickPlaceGR1T2MimicEnv",
    kwargs={
        "env_cfg_entry_point": pickplace_gr1t2_mimic_env_cfg.PickPlaceGR1T2MimicEnvCfg,
    },
    disable_env_checker=True,
)
