# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""
Cartpole balancing environment.
"""

import gymnasium as gym

from . import agents

##
# Register Gym environments.
##

gym.register(
    id="Isaac-Cartpole-Direct-v0",
    entry_point=f"{__name__}.cartpole_env:CartpoleEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{__name__}.cartpole_env:CartpoleEnvCfg",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
        "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
    },
)

gym.register(
    id="Isaac-Cartpole-RGB-Camera-Direct-v0",
    entry_point=f"{__name__}.cartpole_camera_env:CartpoleCameraEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{__name__}.cartpole_camera_env:CartpoleRGBCameraEnvCfg",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
    },
)

gym.register(
    id="Isaac-Cartpole-Depth-Camera-Direct-v0",
    entry_point=f"{__name__}.cartpole_camera_env:CartpoleCameraEnv",
    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{__name__}.cartpole_camera_env:CartpoleDepthCameraEnvCfg",
        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
    },
)
