refactor(env): gripper wrapper non private gripper

Author: juelg

python/rcs/envs/base.py

@@ -693,15 +693,15 @@ def __init__(self, env, gripper: common.Gripper, binary: bool = True, open_on_re
         self.action_space: gym.spaces.Dict
         self.action_space.spaces.update(get_space(GripperDictType).spaces)
         self.gripper_key = get_space_keys(GripperDictType)[0]
-        self._gripper = gripper
+        self.gripper = gripper
         self.binary = binary
         self._last_gripper_cmd = None
         self.open_on_reset = open_on_reset
 
     def reset(self, **kwargs) -> tuple[dict[str, Any], dict[str, Any]]:
         if self.open_on_reset:
             # resetting opens the gripper
-            self._gripper.reset()
+            self.gripper.reset()
         self._last_gripper_cmd = None
         return super().reset(**kwargs)
 
@@ -712,7 +712,7 @@ def observation(self, observation: dict[str, Any], info: dict[str, Any]) -> tupl
                 self._last_gripper_cmd if self._last_gripper_cmd is not None else self.BINARY_GRIPPER_OPEN
             )
         else:
-            observation[self.gripper_key] = self._gripper.get_normalized_width()
+            observation[self.gripper_key] = self.gripper.get_normalized_width()
 
         return observation, info
 
@@ -725,9 +725,9 @@ def action(self, action: dict[str, Any]) -> dict[str, Any]:
         gripper_action = np.clip(gripper_action, 0.0, 1.0)
 
         if self.binary:
-            self._gripper.grasp() if gripper_action == self.BINARY_GRIPPER_CLOSED else self._gripper.open()
+            self.gripper.grasp() if gripper_action == self.BINARY_GRIPPER_CLOSED else self.gripper.open()
         else:
-            self._gripper.set_normalized_width(gripper_action)
+            self.gripper.set_normalized_width(gripper_action)
         self._last_gripper_cmd = gripper_action
         del action[self.gripper_key]
         return action