import numpy as np

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


class SawyerButtonPressWallV2Policy(Policy):

    @staticmethod
    def _parse_obs(obs):
        return {
            'hand_pos': obs[:3],
            'hand_closed': obs[3],
            'button_pos': obs[4:7],
            'unused_info': obs[7:],
        }

    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=15.)
        action['grab_effort'] = self._grab_effort(o_d)
        print('self._grab_effort(o_d)', self._grab_effort(o_d))

        return action.array

    @staticmethod
    def _desired_pos(o_d):
        pos_curr = o_d['hand_pos']
        pos_button = o_d['button_pos'] + np.array([.0, .0, .04])

        if abs(pos_curr[0] - pos_button[0]) > 0.02:
            print('mode 1 dim 0', np.array([pos_button[0], pos_curr[1], .3]))
            return np.array([pos_button[0], pos_curr[1], .3])
        elif pos_button[1] - pos_curr[1] > 0.09:
            print('mode 2, dim 1', np.array([pos_button[0], pos_button[1], .3]))
            return np.array([pos_button[0], pos_button[1], .3])
        elif abs(pos_curr[2] - pos_button[2]) > 0.02:
            print('mode 3, dim 2', pos_button + np.array([.0, -.05, .0]))
            return pos_button + np.array([.0, -.05, .0])
        else:
            print('mode 4, dim 2', pos_button + np.array([.0, -.02, .0]))
            return pos_button + np.array([.0, -.05, .0])

    @staticmethod
    def _grab_effort(o_d):
        pos_curr = o_d['hand_pos']
        pos_button = o_d['button_pos'] + np.array([.0, .0, .04])

        if abs(pos_curr[0] - pos_button[0]) > 0.02 or \
                pos_button[1] - pos_curr[1] > 0.09 or \
                abs(pos_curr[2] - pos_button[2]) > 0.02:
            return 1.
        else:
            return -1.
