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from .ant import Ant
from .anymal import Anymal
from .anymal_terrain import AnymalTerrain
from .ball_balance import BallBalance
from .cartpole import Cartpole 
from .factory.factory_task_gears import FactoryTaskGears
from .factory.factory_task_insertion import FactoryTaskInsertion
from .factory.factory_task_nut_bolt_pick import FactoryTaskNutBoltPick
from .factory.factory_task_nut_bolt_place import FactoryTaskNutBoltPlace
from .factory.factory_task_nut_bolt_screw import FactoryTaskNutBoltScrew
from .franka_cabinet import FrankaCabinet
from .franka_cube_stack import FrankaCubeStack
from .humanoid import Humanoid
from .humanoid_amp import HumanoidAMP
from .ingenuity import Ingenuity
from .quadcopter import Quadcopter
from .shadow_hand import ShadowHand
from .allegro_hand import AllegroHand
from .dextreme.allegro_hand_dextreme import AllegroHandDextremeManualDR, AllegroHandDextremeADR
from .trifinger import Trifinger

from .allegro_kuka.allegro_kuka_reorientation import AllegroKukaReorientation
from .allegro_kuka.allegro_kuka_regrasping import AllegroKukaRegrasping
from .allegro_kuka.allegro_kuka_throw import AllegroKukaThrow
from .allegro_kuka.allegro_kuka_two_arms_regrasping import AllegroKukaTwoArmsRegrasping
from .allegro_kuka.allegro_kuka_two_arms_reorientation import AllegroKukaTwoArmsReorientation


def resolve_allegro_kuka(cfg, *args, **kwargs):
    subtask_name: str = cfg["env"]["subtask"]
    subtask_map = dict(
        reorientation=AllegroKukaReorientation,
        throw=AllegroKukaThrow,
        regrasping=AllegroKukaRegrasping,
    )

    if subtask_name not in subtask_map:
        print("!!!!!")
        raise ValueError(f"Unknown subtask={subtask_name} in {subtask_map}")

    return subtask_map[subtask_name](cfg, *args, **kwargs)

def resolve_allegro_kuka_two_arms(cfg, *args, **kwargs):
    subtask_name: str = cfg["env"]["subtask"]
    subtask_map = dict(
        reorientation=AllegroKukaTwoArmsReorientation,
        regrasping=AllegroKukaTwoArmsRegrasping,
    )

    if subtask_name not in subtask_map:
        raise ValueError(f"Unknown subtask={subtask_name} in {subtask_map}")

    return subtask_map[subtask_name](cfg, *args, **kwargs)


# Mappings from strings to environments
isaacgym_task_map = {
    "AllegroHand": AllegroHand,
    "AllegroKuka": resolve_allegro_kuka,
    "AllegroKukaTwoArms": resolve_allegro_kuka_two_arms,
    "AllegroHandManualDR": AllegroHandDextremeManualDR,
    "AllegroHandADR": AllegroHandDextremeADR,
    "Ant": Ant,
    "Anymal": Anymal,
    "AnymalTerrain": AnymalTerrain,
    "BallBalance": BallBalance,
    "Cartpole": Cartpole,
    "FactoryTaskGears": FactoryTaskGears,
    "FactoryTaskInsertion": FactoryTaskInsertion,
    "FactoryTaskNutBoltPick": FactoryTaskNutBoltPick,
    "FactoryTaskNutBoltPlace": FactoryTaskNutBoltPlace,
    "FactoryTaskNutBoltScrew": FactoryTaskNutBoltScrew,
    "FrankaCabinet": FrankaCabinet,
    "FrankaCubeStack": FrankaCubeStack,
    "Humanoid": Humanoid,
    "HumanoidAMP": HumanoidAMP,
    "Ingenuity": Ingenuity,
    "Quadcopter": Quadcopter,
    "ShadowHand": ShadowHand,
    "Trifinger": Trifinger,
}
