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

from omni.isaac.orbit.utils import configclass

from omni.isaac.orbit_envs.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg

##
# Pre-defined configs
##
# isort: off
from omni.isaac.orbit.assets.config.anymal import ANYMAL_D_CFG


@configclass
class AnymalDFlatEnvCfg(LocomotionVelocityRoughEnvCfg):
    def __post_init__(self):
        # post init of parent
        super().__post_init__()

        # switch robot to anymal-d
        self.scene.robot = ANYMAL_D_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
        # override rewards
        self.rewards.flat_orientation_l2.weight = -5.0
        self.rewards.dof_torques_l2.weight = -2.5e-5
        self.rewards.feet_air_time.weight = 2.0
        # change terrain to flat
        self.scene.terrain.terrain_type = "plane"
        self.scene.terrain.terrain_generator = None
        # no height scan
        self.scene.height_scanner = None
        self.observations.policy.height_scan = None
        # no terrain curriculum
        self.curriculum.terrain_levels = None


class AnymalDFlatEnvCfg_PLAY(AnymalDFlatEnvCfg):
    def __post_init__(self) -> None:
        # post init of parent
        super().__post_init__()

        # make a smaller scene for play
        self.scene.num_envs = 50
        self.scene.env_spacing = 2.5
        # disable randomization for play
        self.observations.policy.enable_corruption = False
        # remove random pushing
        self.randomization.base_external_force_torque = None
        self.randomization.push_robot = None
