Feature/tactile sensing (#69)

* Add tactile sensing integration with OrcaHandTouch subclass

* Created constants file, moved sensor clients into hardware folder and moved constants into new constants file

* Major refactor of MockSensorClient to reduce duplication with base class, removed hardware version methods

* Extract protocol codec layer and harden contracts

Introduce protocol.py as a pure-function codec for the sensor wire
format (frame building, parsing, decoding). Tighten validation
(header checks, meta size guards, strict KeyError on missing taxels),
move wire-format constants to constants.py, and reduce protocol
knowledge leaking into sensor_client.py.

* Remove tactile sensing UI to separate orca_ui repository

Moves the web-based sensor visualization (Flask/SocketIO) out of orca_core
per reviewer feedback on separation of concerns. The UI now lives in its
own repo and depends on orca_core as an external package.

* Add MockOrcaHandTouch and modernize type annotations

Add MockOrcaHandTouch class backed by mock motor and sensor clients for
testing hand+sensor workflows without hardware. Extract _create_sensor_client
factory method from OrcaHandTouch to mirror the existing _create_motor_client
pattern. Update sensor client type annotations to use PEP 604 union syntax.

* Address review feedback on tactile sensing API

- Clarify get_tactile_forces/get_tactile_taxels docstrings to show
  string-keyed dict access pattern and list valid finger keys
- Remove unused taxel_coordinates module: 3D coordinate data is only
  consumed by the visualization UI, which now lives in orca_ui. Taxel
  counts remain in constants.py where the mock client uses them.

* Simplify auto-stream error handling and reconfiguration

* Address review feedback: rename stats fields, narrow excepts, remove dead code

* Add wait_for_first_frame and taxel_counts to MockSensorClient

Lets tests synchronize on auto-stream startup without polling, and
configure per-finger taxel counts via the constructor instead of
mutating private state.

* Refactor tactile sensor tests to flat parametrized style

Replace class-based tests with module-level functions, parametrize
where it tightens coverage, and use wait_for_first_frame() instead of
the polling helpers.

* Fix resultant decoder to read low byte only
Mock now round-trips through the real codec so wire-format bugs surface in tests.

* Add tactile sensor port cascade and bring-up helpers

OrcaHandTouch.connect() now mirrors the motor cascade: configured port first, then USB-VID auto-detection, with a successful auto-detect persisted to config.yaml. Adds connect_sensors_only() for motor-less sensor testing and makes get_auto_stats() return a snapshot copy so callers can diff values across calls.

* Add tactile sensor health-check script

* Remove dead reconfiguration code and simplify health-check zeroing

* Rename SensorClient to TactileClient and add combined-data accessor

* -Revert .gitignore chagnes unrelated to tactile sensing

* Tighten tactile-sensing comments, drop unused mock kwarg, add pyserial

* Add FingerName Literal type and consolidate test_protocol.py

* Drop name-restating docstrings, add pyserial dep

---------

Co-authored-by: Fabrice Bourquin <fabrice.bourquin@protonmail.ch>

Author: maximilianeberlein

orca_core/hardware_hand.py

@@ -1477,7 +1477,18 @@ def _create_motor_client(
 class MockOrcaHandTouch(OrcaHandTouch):
     """Drop-in :class:`OrcaHandTouch` with in-memory mock motor + sensor clients (no serial I/O)."""
 
-    def _create_motor_client(self) -> MotorClient:
+    def _resolve_port(self) -> str:
+        return self.config.port or "/dev/null"
+
+    def _trial_probe(self, port: str) -> tuple[str, int]:
+        return "dynamixel", 1_000_000
+
+    def _create_motor_client(
+        self,
+        motor_type: str,
+        port: str,
+        baudrate: int,
+    ) -> MotorClient:
         from .hardware.mock_dynamixel_client import MockDynamixelClient
 
         return MockDynamixelClient(