refactor(hand): previous renaming in code

Author: juelg

python/rcsss/envs/base.py

@@ -18,7 +18,7 @@
     get_space,
     get_space_keys,
 )
-from rcsss.hand.interface import BaseHandControl
+from rcsss.hand.interface import BaseHand
 
 _logger = logging.getLogger()
 
@@ -613,7 +613,7 @@ class HandWrapper(ActObsInfoWrapper):
     BINARY_HAND_CLOSED = 0
     BINARY_HAND_OPEN = 1
 
-    def __init__(self, env, hand: BaseHandControl, binary: bool = True):
+    def __init__(self, env, hand: BaseHand, binary: bool = True):
         super().__init__(env)
         self.unwrapped: FR3Env
         self.observation_space: gym.spaces.Dict

python/rcsss/envs/factories.py

@@ -37,7 +37,7 @@
     default_realsense,
     get_urdf_path,
 )
-from rcsss.hand.tilburg_hand import TilburgHandControl
+from rcsss.hand.tilburg_hand import TilburgHand
 
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.INFO)
@@ -169,7 +169,7 @@ def fr3_sim_env(
         env = GripperWrapper(env, gripper, binary=True)
 
     elif isinstance(gripper_cfg, rcsss.hand.tilburg_hand.THConfig):
-        hand = TilburgHandControl(gripper_cfg)
+        hand = TilburgHand(gripper_cfg)
         env = HandWrapper(env, hand, binary=True)
 
     if collision_guard:

python/rcsss/hand/interface.py

@@ -3,7 +3,7 @@
 import numpy as np
 
 
-class BaseHandControl(Protocol):
+class BaseHand(Protocol):
     """
     Hand Class
     This class provides an interface for hand control.

python/rcsss/hand/tilburg_hand.py

@@ -4,8 +4,8 @@
 
 import numpy as np
 from pydantic import BaseModel
+from rcsss.hand.interface import BaseHand
 from rcsss.envs.space_utils import Vec18Type
-from rcsss.hand.interface import BaseHandControl
 from tilburg_hand import Finger, TilburgHandMotorInterface, Unit
 
 # Setup logger
@@ -23,9 +23,9 @@ class THConfig(BaseModel):
     hand_orientation: str = "right"
 
 
-class TilburgHandControl(BaseHandControl):
+class TilburgHand(BaseHand):
     """
-    Tilburg Hand Control Class
+    Tilburg Hand Class
     This class provides an interface for controlling the Tilburg Hand.
     It allows for grasping, resetting, and disconnecting from the hand.
     """
@@ -36,7 +36,7 @@ class TilburgHandControl(BaseHandControl):
 
     def __init__(self, cfg: THConfig, verbose: bool = False):
         """
-        Initializes the Tilburg Hand Control interface.
+        Initializes the Tilburg Hand interface.
         """
         self._cfg = cfg