import numpy as np

from metaworld.policies.action import Action
from metaworld.policies.policy import Policy, move, assert_fully_parsed


class SawyerPickPlaceWallV2Policy(Policy):

    @staticmethod
    @assert_fully_parsed
    def _parse_obs(obs):
        return {
            'hand_pos': obs[:3],
            'unused_1': obs[3],
            'puck_pos': obs[4:7],
            'unused_2':  obs[7:-3],
            'goal_pos': obs[-3:],
        }

    def get_action(self, obs):
        o_d = self._parse_obs(obs)

        action = Action({
            'delta_pos': np.arange(3),
            'grab_effort': 3
        })

        action['delta_pos'] = move(o_d['hand_pos'], to_xyz=self.desired_pos(o_d), p=10.)
        action['grab_effort'] = self.grab_effort(o_d)

        return action.array

    @staticmethod
    def desired_pos(o_d):
        pos_curr = o_d['hand_pos']
        pos_puck = o_d['puck_pos'] + np.array([-0.005, 0, 0])
        pos_goal = o_d['goal_pos']

        # If error in the XY plane is greater than 0.02, place end effector above the puck
        if np.linalg.norm(pos_curr[:2] - pos_puck[:2]) > 0.015:
            return pos_puck + np.array([0., 0., 0.1])
        # Once XY error is low enough, drop end effector down on top of puck
        elif abs(pos_curr[2] - pos_puck[2]) > 0.04 and pos_puck[-1] < 0.03:
            return pos_puck + np.array([0., 0., 0.03])
        # Move to the goal
        else:
            # if wall is in the way of arm, straight up above the wall
            if(-0.15 <= pos_curr[0] <= 0.35 and
                    0.60 <= pos_curr[1] <= 0.80 and
                    pos_curr[2] < 0.25):
                    return pos_curr + [0, 0, 1]
            #move towards the goal while staying above the wall
            elif(-0.15 <= pos_curr[0] <= 0.35 and
                    0.60 <= pos_curr[1] <= 0.80 and
                    pos_curr[2] < 0.35):
                return np.array([pos_goal[0], pos_goal[1], pos_curr[2]])
            # If not at the same Z height as the goal, move up to that plane
            elif abs(pos_curr[2] - pos_goal[2]) > 0.04:
                return np.array([pos_curr[0], pos_curr[1], pos_goal[2]])
            return pos_goal

    @staticmethod
    def grab_effort(o_d):
        pos_curr = o_d['hand_pos']
        pos_puck = o_d['puck_pos']

        if np.linalg.norm(pos_curr[:2] - pos_puck[:2]) > 0.015 or abs(pos_curr[2] - pos_puck[2]) > 0.1:
            return 0.
        # While end effector is moving down toward the puck, begin closing the grabber
        else:
            return 0.9
