#!/usr/bin/env python3
"""
场景布置与 grasp 位姿变换（本 bundle 配套，纯 numpy）。

示例:
  python scene_layout_reference.py --obj-id A01006
  python scene_layout_reference.py --obj-id A01006 --candidate-index 0
"""

from __future__ import annotations

import argparse
import json
from pathlib import Path

import numpy as np

ROBOT_POSITION = np.array([0.2, -0.05, 0.8], dtype=np.float64)
ROBOT_ORIENTATION_EULER_DEG = np.array([0.0, 0.0, 90.0], dtype=np.float64)
TABLE_POSITION = np.array([0.0, 1.0, 0.75], dtype=np.float64)
TABLE_SCALE = np.array([2.0, 2.0, 0.1], dtype=np.float64)
TABLE_TOP_Z = 0.80
OBJECT_XY = np.array([0.0, 0.55], dtype=np.float64)
TCP_OFFSET = 0.105
R_ADAPT = np.array([[0, 1, 0], [-1, 0, 0], [0, 0, 1]], dtype=np.float64)


def euler_xyz_deg_to_matrix(euler_deg: np.ndarray) -> np.ndarray:
    rx, ry, rz = np.radians(np.asarray(euler_deg, dtype=np.float64))
    cx, sx = np.cos(rx), np.sin(rx)
    cy, sy = np.cos(ry), np.sin(ry)
    cz, sz = np.cos(rz), np.sin(rz)
    Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]], dtype=np.float64)
    Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]], dtype=np.float64)
    Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]], dtype=np.float64)
    return Rz @ Ry @ Rx


def load_z_offset_m(bundle_dir: Path, obj_id: str) -> float:
    meta_path = bundle_dir / "obj_usd" / f"{obj_id}_meta.json"
    return float(json.loads(meta_path.read_text(encoding="utf-8"))["z_offset_m"])


def resolve_object_world_placement(
    obj_id: str,
    bundle_dir: Path,
    *,
    sim_z_yaw_deg: float = 0.0,
) -> dict:
    z_offset = load_z_offset_m(bundle_dir, obj_id)
    euler = np.array([0.0, 0.0, float(sim_z_yaw_deg)], dtype=np.float64)
    pos = np.array([OBJECT_XY[0], OBJECT_XY[1], TABLE_TOP_Z + z_offset], dtype=np.float64)
    return {
        "obj_id": obj_id,
        "position_world": pos.tolist(),
        "orientation_euler_deg": euler.tolist(),
        "z_offset_m": z_offset,
        "table_top_z": TABLE_TOP_Z,
        "sim_z_yaw_deg": float(sim_z_yaw_deg),
    }


def grasp_mesh_to_panda_hand_target(
    position_mesh: np.ndarray,
    rotation_mesh: np.ndarray,
    placement: dict,
) -> tuple[np.ndarray, np.ndarray]:
    T = np.eye(4, dtype=np.float64)
    T[:3, :3] = euler_xyz_deg_to_matrix(
        np.array(placement["orientation_euler_deg"], dtype=np.float64)
    )
    T[:3, 3] = np.asarray(placement["position_world"], dtype=np.float64)
    p = np.asarray(position_mesh, dtype=np.float64).reshape(3)
    R = np.asarray(rotation_mesh, dtype=np.float64).reshape(3, 3)
    pos_w = (T @ np.append(p, 1.0))[:3]
    rot_w = T[:3, :3] @ R
    rot_w = rot_w @ R_ADAPT
    pos_w = pos_w - rot_w[:, 2] * TCP_OFFSET
    min_z = TABLE_TOP_Z + 0.02
    if pos_w[2] < min_z:
        pos_w = pos_w.copy()
        pos_w[2] = min_z
    return pos_w, rot_w


def load_candidate(bundle_dir: Path, obj_id: str, index: int = 0) -> dict:
    doc = json.loads((bundle_dir / "candidates" / f"{obj_id}.json").read_text(encoding="utf-8"))
    c = doc["candidates"][f"candidate_{index}"]
    return {
        "position": np.array(c["position"], dtype=np.float64),
        "rotation": np.array(c["rotation"], dtype=np.float64),
        "name": c.get("name", f"candidate_{index}"),
    }


def main() -> None:
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument("--bundle-dir", type=Path, default=Path(__file__).resolve().parent)
    parser.add_argument("--obj-id", required=True)
    parser.add_argument("--candidate-index", type=int, default=None)
    args = parser.parse_args()

    placement = resolve_object_world_placement(args.obj_id, args.bundle_dir)
    out = {
        "table": {"position": TABLE_POSITION.tolist(), "top_z": TABLE_TOP_Z},
        "franka": {
            "position": ROBOT_POSITION.tolist(),
            "orientation_euler_deg": ROBOT_ORIENTATION_EULER_DEG.tolist(),
        },
        "object": placement,
    }
    if args.candidate_index is not None:
        cand = load_candidate(args.bundle_dir, args.obj_id, args.candidate_index)
        pos_w, rot_w = grasp_mesh_to_panda_hand_target(
            cand["position"], cand["rotation"], placement
        )
        out["example"] = {
            "candidate_index": args.candidate_index,
            "name": cand["name"],
            "position_mesh": cand["position"].tolist(),
            "panda_hand_target_world": {"position": pos_w.tolist()},
        }
    print(json.dumps(out, indent=2, ensure_ascii=False))


if __name__ == "__main__":
    main()