Apply isort fixes; resolve previous comments

Author: Nan-Tetheria

mujoco_playground/_src/manipulation/__init__.py

@@ -28,7 +28,7 @@
 from mujoco_playground._src.manipulation.franka_emika_panda_robotiq import push_cube as robotiq_push_cube
 from mujoco_playground._src.manipulation.leap_hand import reorient as leap_cube_reorient
 from mujoco_playground._src.manipulation.leap_hand import rotate_z as leap_rotate_z
-from mujoco_playground._src.manipulation.tetheria_hand import rotate_z as tetheria_hand_rotate_z
+from mujoco_playground._src.manipulation.aero_hand import rotate_z as aero_hand_rotate_z
 
 _envs = {
     "AlohaHandOver": aloha_handover.HandOver,
@@ -40,7 +40,7 @@
     "PandaRobotiqPushCube": robotiq_push_cube.PandaRobotiqPushCube,
     "LeapCubeReorient": leap_cube_reorient.CubeReorient,
     "LeapCubeRotateZAxis": leap_rotate_z.CubeRotateZAxis,
-    "TetheriaCubeRotateZAxis": tetheria_hand_rotate_z.CubeRotateZAxis,
+    "AeroCubeRotateZAxis": aero_hand_rotate_z.CubeRotateZAxis,
 }
 
 _cfgs = {
@@ -53,13 +53,13 @@
     "PandaRobotiqPushCube": robotiq_push_cube.default_config,
     "LeapCubeReorient": leap_cube_reorient.default_config,
     "LeapCubeRotateZAxis": leap_rotate_z.default_config,
-    "TetheriaCubeRotateZAxis": tetheria_hand_rotate_z.default_config,
+    "AeroCubeRotateZAxis": aero_hand_rotate_z.default_config,
 }
 
 _randomizer = {
     "LeapCubeRotateZAxis": leap_rotate_z.domain_randomize,
     "LeapCubeReorient": leap_cube_reorient.domain_randomize,
-    "TetheriaCubeRotateZAxis": tetheria_hand_rotate_z.domain_randomize,
+    "AeroCubeRotateZAxis": aero_hand_rotate_z.domain_randomize,
 }
 
 

…src/manipulation/tetheria_hand/README.md …nd/_src/manipulation/aero_hand/README.mdmujoco_playground/_src/manipulation/tetheria_hand/README.md renamed to mujoco_playground/_src/manipulation/aero_hand/README.md mujoco_playground/_src/manipulation/tetheria_hand/README.md renamed to mujoco_playground/_src/manipulation/aero_hand/README.md

@@ -0,0 +1,89 @@
+# Copyright 2025 TetherIA Inc.
+# Copyright 2023 DeepMind Technologies Limited
+#
+# Author: Nan Wang (TetherIA Inc.)
+#
+# 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.
+# ==============================================================================
+
+"""Constants for TetherIA Aero Hand Open."""
+
+from mujoco_playground._src import mjx_env
+
+ROOT_PATH = mjx_env.ROOT_PATH / "manipulation" / "aero_hand"
+CUBE_XML = ROOT_PATH / "xmls" / "scene_mjx_cube.xml"
+
+NQ = 16
+NV = 16
+NU = 7
+
+JOINT_NAMES = [
+    # index
+    "right_index_mcp_flex",
+    "right_index_pip",
+    "right_index_dip",
+    # middle
+    "right_middle_mcp_flex",
+    "right_middle_pip",
+    "right_middle_dip",
+    # ring
+    "right_ring_mcp_flex",
+    "right_ring_pip",
+    "right_ring_dip",
+    # pinky
+    "right_pinky_mcp_flex",
+    "right_pinky_pip",
+    "right_pinky_dip",
+    # thumb
+    "right_thumb_cmc_abd",
+    "right_thumb_cmc_flex",
+    "right_thumb_mcp",
+    "right_thumb_ip",
+]
+
+ACTUATOR_NAMES = [
+    # index
+    "right_index_A_pip",
+    # middle
+    "right_middle_A_pip",
+    # ring
+    "right_ring_A_pip",
+    # pinky
+    "right_pinky_A_pip",
+    # thumb
+    "right_thumb_A_cmc_abd",
+    "right_th1_A_pip",
+    "right_th2_A_pip",
+]
+
+FINGERTIP_NAMES = [
+    "if_tip",
+    "mf_tip",
+    "rf_tip",
+    "pf_tip",
+    "th_tip",
+]
+
+
+SENSOR_TENDON_NAMES = [
+    "len_if",
+    "len_mf",
+    "len_rf",
+    "len_pf",
+    "len_th1",
+    "len_th2",
+]
+
+SENSOR_JOINT_NAMES = [
+    "len_th_abd",
+]

…c/manipulation/tetheria_hand/__init__.py …/_src/manipulation/aero_hand/__init__.pymujoco_playground/_src/manipulation/tetheria_hand/__init__.py renamed to mujoco_playground/_src/manipulation/aero_hand/__init__.py mujoco_playground/_src/manipulation/tetheria_hand/__init__.py renamed to mujoco_playground/_src/manipulation/aero_hand/__init__.py

@@ -16,7 +16,7 @@
 # limitations under the License.
 # ==============================================================================
 
-"""Base classes for tetheria hand."""
+"""Base classes for TetherIA Aero Hand Open."""
 
 from typing import Any, Dict, Optional, Union
 
@@ -28,12 +28,12 @@
 from mujoco import mjx
 
 from mujoco_playground._src import mjx_env
-from mujoco_playground._src.manipulation.tetheria_hand import tetheria_hand_constants as consts
+from mujoco_playground._src.manipulation.aero_hand import aero_hand_constants as consts
 
 
 def get_assets() -> Dict[str, bytes]:
   assets = {}
-  path = mjx_env.MENAGERIE_PATH / "tetheria_hand"
+  path = mjx_env.MENAGERIE_PATH / "aero_hand"
   mjx_env.update_assets(assets, path / "assets")
   mjx_env.update_assets(assets, consts.ROOT_PATH / "xmls", "*.xml")
   mjx_env.update_assets(
@@ -43,8 +43,8 @@ def get_assets() -> Dict[str, bytes]:
   return assets
 
 
-class TetheriaHandEnv(mjx_env.MjxEnv):
-  """Base class for Tetheria hand environments."""
+class AeroHandEnv(mjx_env.MjxEnv):
+  """Base class for Aero Hand environments."""
 
   def __init__(
       self,