from dataclasses import dataclass, field
from lerobot.cameras.configs import CameraConfig
from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig
from lerobot.motors.motors_bus import Motor, MotorCalibration
from lerobot.robots.config import RobotConfig

@RobotConfig.register_subclass("realman")
@dataclass
class RealmanRobotConfig(RobotConfig):
    # Port to connect to the arm
    port: str
    mock: bool = field(default_factory=bool)\
    #0：关节角度透传模式 1:笛卡尔速度透传
    mode: int = 0
    gripper_range: list[int] = field(default_factory=list)
    disable_torque_on_disconnect: bool = True
    max_relative_target = None
    # cameras
    cameras: dict[str, RealSenseCameraConfig] = field(default_factory=dict)
    joint: list=field(default_factory=list)
    motors: dict[str, Motor] = field(default_factory=dict)
    calibration: dict[str, MotorCalibration] | None = None