# Copyright 2021 Google LLC
#
# 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.

"""Reach force torque sensor arm element used for configuration."""

import dataclasses

from pyreach.gyms import reach_element


@dataclasses.dataclass(frozen=True)
class ReachForceTorqueSensor(reach_element.ReachElement):
  """Represents a Reach Force Torque Sensor configuration.

  Attributes:
    reach_name: The underlying Reach device type name of the force torque
      sensor.  May be empty.
    is_synchronous: If True, the next Gym observation will synchronize all
      observations element that have this flag set otherwise the next
      observation is asynchronous.  This argument is optional and defaults to
      False.
  """
  is_synchronous: bool = False

# Copyright 2021 Google LLC
#
# 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.

"""Reach force torque sensor arm element used for configuration."""

import dataclasses

from pyreach.gyms import reach_element


@dataclasses.dataclass(frozen=True)
class ReachForceTorqueSensor(reach_element.ReachElement):
  """Represents a Reach Force Torque Sensor configuration.

  Attributes:
    reach_name: The underlying Reach device type name of the force torque
      sensor.  May be empty.
    is_synchronous: If True, the next Gym observation will synchronize all
      observations element that have this flag set otherwise the next
      observation is asynchronous.  This argument is optional and defaults to
      False.
  """
  is_synchronous: bool = False

# Copyright 2021 Google LLC # # 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. Reach force torque sensor arm element used for configuration. Represents a Reach Force Torque Sensor configuration.    Attributes:     reach_name: The underlying Reach device type name of the force torque       sensor.  May be empty.     is_synchronous: If True, the next Gym observation will synchronize all       observations element that have this flag set otherwise the next       observation is asynchronous.  This argument is optional and defaults to       False.