update stub class names

Author: juelg

python/rcsss/_core/common.pyi

@@ -11,37 +11,37 @@ import pybind11_stubgen.typing_ext
 
 __all__ = [
     "FrankaHandTCPOffset",
-    "GConfig",
-    "GState",
     "Gripper",
+    "GripperConfig",
+    "GripperState",
     "IK",
     "IdentityRotMatrix",
     "IdentityRotQuatVec",
     "IdentityTranslation",
     "Pose",
-    "RConfig",
     "RPY",
-    "RState",
     "Robot",
+    "RobotConfig",
+    "RobotState",
 ]
 
-class GConfig:
-    pass
-
-class GState:
-    pass
-
 class Gripper:
     def get_normalized_width(self) -> float: ...
-    def get_parameters(self) -> GConfig: ...
-    def get_state(self) -> GState: ...
+    def get_parameters(self) -> GripperConfig: ...
+    def get_state(self) -> GripperState: ...
     def grasp(self) -> None: ...
     def is_grasped(self) -> bool: ...
     def open(self) -> None: ...
     def reset(self) -> None: ...
     def set_normalized_width(self, width: float, force: float = 0) -> None: ...
     def shut(self) -> None: ...
 
+class GripperConfig:
+    pass
+
+class GripperState:
+    pass
+
 class IK:
     def __init__(self, urdf_path: str, max_duration_ms: int = 300) -> None: ...
     def ik(
@@ -104,9 +104,6 @@ class Pose:
     def translation(self) -> numpy.ndarray[typing.Literal[3], numpy.dtype[numpy.float64]]: ...
     def xyzrpy(self) -> numpy.ndarray[typing.Literal[6], numpy.dtype[numpy.float64]]: ...
 
-class RConfig:
-    pass
-
 class RPY:
     pitch: float
     roll: float
@@ -126,23 +123,26 @@ class RPY:
         self,
     ) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]: ...
 
-class RState:
-    pass
-
 class Robot:
     def get_base_pose_in_world_coordinates(self) -> Pose: ...
     def get_cartesian_position(self) -> Pose: ...
     def get_ik(self) -> IK | None: ...
     def get_joint_position(self) -> numpy.ndarray[typing.Literal[7], numpy.dtype[numpy.float64]]: ...
-    def get_parameters(self) -> RConfig: ...
-    def get_state(self) -> RState: ...
+    def get_parameters(self) -> RobotConfig: ...
+    def get_state(self) -> RobotState: ...
     def move_home(self) -> None: ...
     def reset(self) -> None: ...
     def set_cartesian_position(self, pose: Pose) -> None: ...
     def set_joint_position(self, q: numpy.ndarray[typing.Literal[7], numpy.dtype[numpy.float64]]) -> None: ...
     def to_pose_in_robot_coordinates(self, pose_in_world_coordinates: Pose) -> Pose: ...
     def to_pose_in_world_coordinates(self, pose_in_robot_coordinates: Pose) -> Pose: ...
 
+class RobotConfig:
+    pass
+
+class RobotState:
+    pass
+
 def FrankaHandTCPOffset() -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]]: ...
 def IdentityRotMatrix() -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]: ...
 def IdentityRotQuatVec() -> numpy.ndarray[typing.Literal[4], numpy.dtype[numpy.float64]]: ...

python/rcsss/_core/hw/__init__.pyi

@@ -25,7 +25,7 @@ __all__ = [
     "rcs",
 ]
 
-class FHConfig(rcsss._core.common.GConfig):
+class FHConfig(rcsss._core.common.GripperConfig):
     async_control: bool
     epsilon_inner: float
     epsilon_outer: float
@@ -34,7 +34,7 @@ class FHConfig(rcsss._core.common.GConfig):
     speed: float
     def __init__(self) -> None: ...
 
-class FHState(rcsss._core.common.GState):
+class FHState(rcsss._core.common.GripperState):
     def __init__(self) -> None: ...
     @property
     def bool_state(self) -> bool: ...
@@ -80,7 +80,7 @@ class FR3(rcsss._core.common.Robot):
     def stop_control_thread(self) -> None: ...
     def zero_torque_guiding(self) -> None: ...
 
-class FR3Config(rcsss._core.common.RConfig):
+class FR3Config(rcsss._core.common.RobotConfig):
     async_control: bool
     ik_solver: IKSolver
     load_parameters: FR3Load | None
@@ -96,7 +96,7 @@ class FR3Load:
     load_mass: float
     def __init__(self) -> None: ...
 
-class FR3State(rcsss._core.common.RState):
+class FR3State(rcsss._core.common.RobotState):
     def __init__(self) -> None: ...
 
 class FrankaHand(rcsss._core.common.Gripper):

python/rcsss/_core/sim.pyi

@@ -65,14 +65,14 @@ class CameraType:
     @property
     def value(self) -> int: ...
 
-class FHConfig(rcsss._core.common.GConfig):
+class FHConfig(rcsss._core.common.GripperConfig):
     epsilon_inner: float
     epsilon_outer: float
     ignored_collision_geoms: list[str]
     seconds_between_callbacks: float
     def __init__(self) -> None: ...
 
-class FHState(rcsss._core.common.GState):
+class FHState(rcsss._core.common.GripperState):
     def __init__(self) -> None: ...
     @property
     def collision(self) -> bool: ...
@@ -94,15 +94,15 @@ class FR3(rcsss._core.common.Robot):
     def set_joints_hard(self, q: numpy.ndarray[typing.Literal[7], numpy.dtype[numpy.float64]]) -> None: ...
     def set_parameters(self, cfg: FR3Config) -> bool: ...
 
-class FR3Config(rcsss._core.common.RConfig):
+class FR3Config(rcsss._core.common.RobotConfig):
     joint_rotational_tolerance: float
     realtime: bool
     seconds_between_callbacks: float
     tcp_offset: rcsss._core.common.Pose
     trajectory_trace: bool
     def __init__(self) -> None: ...
 
-class FR3State(rcsss._core.common.RState):
+class FR3State(rcsss._core.common.RobotState):
     def __init__(self) -> None: ...
     @property
     def collision(self) -> bool: ...