# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from dataclasses import dataclass, field

from lerobot.common.cameras import CameraConfig

from ..config import RobotConfig


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

    disable_torque_on_disconnect: bool = True

    # /!\ FOR SAFETY, READ THIS /!\
    # `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.
    # For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
    # When you feel more confident with teleoperation or running the policy, you can extend
    # this safety limit and even removing it by setting it to `null`.
    # Also, everything is expected to work safely out-of-the-box, but we highly advise to
    # first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
    # then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
    max_relative_target: int | None = 5

    # cameras
    cameras: dict[str, CameraConfig] = field(default_factory=dict)
    # Troubleshooting: If one of your IntelRealSense cameras freeze during
    # data recording due to bandwidth limit, you might need to plug the camera
    # on another USB hub or PCIe card.