# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym

# from . import agents
from .agents import *

##
# Register Gym environments.
##

##
# MindRobot Left Arm IK-Rel (keyboard teleop)
##

# gym.register(
#     id="Isaac-MindRobot-LeftArm-IK-Rel-v0",
#     entry_point="isaaclab.envs:ManagerBasedRLEnv",
#     kwargs={
#         "env_cfg_entry_point": (
#             "isaaclab_tasks.manager_based.manipulation.mindrobot."
#             "mindrobot_left_arm_ik_env_cfg:MindRobotLeftArmIKRelEnvCfg"
#         ),
#         "robomimic_bc_cfg_entry_point": "isaaclab_tasks.manager_based.manipulation.mindrobot.agents:robomimic/bc_rnn_low_dim.json",
#     },
#     disable_env_checker=True,
# )
# ...existing code...
gym.register(
    id="Isaac-MindRobot-LeftArm-IK-Rel-v0",
    entry_point="isaaclab.envs:ManagerBasedRLEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}.mindrobot_left_arm_ik_env_cfg:MindRobotLeftArmIKEnvCfg",
        "robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
    },
    disable_env_checker=True,
)

gym.register(
    id="Isaac-MindRobot-LeftArm-IK-Abs-v0",
    entry_point="isaaclab.envs:ManagerBasedRLEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}.mindrobot_left_arm_ik_env_cfg:MindRobotLeftArmIKAbsEnvCfg",
        "robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
    },
    disable_env_checker=True,
)

gym.register(
    id="Isaac-MindRobot-DualArm-IK-Abs-v0",
    entry_point="isaaclab.envs:ManagerBasedRLEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}.mindrobot_dual_arm_ik_env_cfg:MindRobotDualArmIKAbsEnvCfg",
        "robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
    },
    disable_env_checker=True,
)

gym.register(
    id="Isaac-MindRobot-2i-DualArm-IK-Abs-v0",
    entry_point="isaaclab.envs:ManagerBasedRLEnv",
    kwargs={
        "env_cfg_entry_point": f"{__name__}.mindrobot_2i_dual_arm_ik_env_cfg:MindRobot2iDualArmIKAbsEnvCfg",
        "robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
    },
    disable_env_checker=True,
)