# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
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#     http://www.apache.org/licenses/LICENSE-2.0
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# Unless required by applicable law or agreed to in writing, software
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from dataclasses import dataclass, field

from lerobot.common.cameras import CameraConfig

from ..config import RobotConfig


@RobotConfig.register_subclass("koch_follower")
@dataclass
class KochFollowerConfig(RobotConfig):
    # Port to connect to the arm
    port: str

    disable_torque_on_disconnect: bool = True

    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
    # the number of motors in your follower arms.
    max_relative_target: int | None = None

    # cameras
    cameras: dict[str, CameraConfig] = field(default_factory=dict)

    # Set to `True` for backward compatibility with previous policies/dataset
    use_degrees: bool = False