"""Base controller interface for G1 robot."""
import numpy as np
from abc import ABC, abstractmethod


class BaseController(ABC):
    """Abstract base class for G1 robot controllers."""

    def __init__(self, num_joints: int = 29):
        self.num_joints = num_joints
        self.time = 0.0
        self.dt = 0.01  # 100 Hz default

    @abstractmethod
    def compute_action(self, obs: np.ndarray, data) -> np.ndarray:
        """
        Compute control action given observation and MuJoCo data.

        Args:
            obs: Observation vector from environment
            data: MuJoCo data object for direct joint access

        Returns:
            Action array of shape (num_joints,) with torques
        """
        pass

    def reset(self):
        """Reset controller state."""
        self.time = 0.0

    def step(self, dt: float = 0.01):
        """Advance controller time."""
        self.time += dt
        self.dt = dt

    @property
    def name(self) -> str:
        """Controller name for UI display."""
        return self.__class__.__name__


class NoController(BaseController):
    """No control - robot falls naturally."""

    def compute_action(self, obs: np.ndarray, data) -> np.ndarray:
        return np.zeros(self.num_joints)

    @property
    def name(self) -> str:
        return "None (Free Fall)"