From 2885d295442c9b134b1b1e26a6543c7e8293f84f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Tue, 11 Nov 2025 18:00:57 +0100
Subject: [PATCH] fix(extensions): missing franka config constructor

---
 extensions/rcs_fr3/src/pybind/rcs.cpp                    | 6 ++++--
 extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi     | 4 ++--
 extensions/rcs_fr3/src/rcs_fr3/creators.py               | 1 +
 extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi | 4 ++--
 4 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/extensions/rcs_fr3/src/pybind/rcs.cpp b/extensions/rcs_fr3/src/pybind/rcs.cpp
index 492c9b3d..3c26a10d 100644
--- a/extensions/rcs_fr3/src/pybind/rcs.cpp
+++ b/extensions/rcs_fr3/src/pybind/rcs.cpp
@@ -68,8 +68,10 @@ PYBIND11_MODULE(_core, m) {
       .def_readwrite("world_to_robot", &rcs::hw::FrankaConfig::world_to_robot)
       .def_readwrite("async_control", &rcs::hw::FrankaConfig::async_control);
 
-  py::class_<rcs::hw::FR3Config, rcs::hw::FrankaConfig>(hw, "FR3Config");
-  py::class_<rcs::hw::PandaConfig, rcs::hw::FrankaConfig>(hw, "PandaConfig");
+  py::class_<rcs::hw::FR3Config, rcs::hw::FrankaConfig>(hw, "FR3Config")
+      .def(py::init<>());
+  py::class_<rcs::hw::PandaConfig, rcs::hw::FrankaConfig>(hw, "PandaConfig")
+      .def(py::init<>());
 
   py::object gripper_config =
       (py::object)py::module_::import("rcs").attr("common").attr(
diff --git a/extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi b/extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi
index 263e07c3..a5ac62c8 100644
--- a/extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi
+++ b/extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi
@@ -143,10 +143,10 @@ class IKSolver:
     def value(self) -> int: ...
 
 class FR3Config(FrankaConfig):
-    pass
+    def __init__(self) -> None: ...
 
 class PandaConfig(FrankaConfig):
-    pass
+    def __init__(self) -> None: ...
 
 franka_ik: IKSolver  # value = <IKSolver.franka_ik: 0>
 rcs_ik: IKSolver  # value = <IKSolver.rcs_ik: 1>
diff --git a/extensions/rcs_fr3/src/rcs_fr3/creators.py b/extensions/rcs_fr3/src/rcs_fr3/creators.py
index d9589ca2..0683256c 100644
--- a/extensions/rcs_fr3/src/rcs_fr3/creators.py
+++ b/extensions/rcs_fr3/src/rcs_fr3/creators.py
@@ -104,6 +104,7 @@ def __call__(  # type: ignore
 
 class RCSFR3MultiEnvCreator(RCSHardwareEnvCreator):
     def __call__(  # type: ignore
+        self,
         name2ip: dict[str, str],
         control_mode: ControlMode,
         robot_cfg: hw.FR3Config,
diff --git a/extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi b/extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi
index 263e07c3..a5ac62c8 100644
--- a/extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi
+++ b/extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi
@@ -143,10 +143,10 @@ class IKSolver:
     def value(self) -> int: ...
 
 class FR3Config(FrankaConfig):
-    pass
+    def __init__(self) -> None: ...
 
 class PandaConfig(FrankaConfig):
-    pass
+    def __init__(self) -> None: ...
 
 franka_ik: IKSolver  # value = <IKSolver.franka_ik: 0>
 rcs_ik: IKSolver  # value = <IKSolver.rcs_ik: 1>