I always suggest a Smith & Wesson K frame with a four inch barrel for a first revolver. The Taurus models you listed are very similar to the S&W K frame.
Revolvers of this type are called double action revolvers but that normally means that they can be fired single action as well by cocking the hammer. There are some double action only revolvers out there but they are not that common. The very popular S&W 642 is a double action only.
Getting a .357 Magnum revolver is always a good idea as you can also shoot .38 Special rounds with it.