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fix(extensions): missing franka config constructor #227

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Merged
juelg merged 1 commit into from
Nov 11, 2025
Merged

fix(extensions): missing franka config constructor #227

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6 changes: 4 additions & 2 deletions extensions/rcs_fr3/src/pybind/rcs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
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4 changes: 2 additions & 2 deletions extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi
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Expand Up @@ -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>
1 change: 1 addition & 0 deletions extensions/rcs_fr3/src/rcs_fr3/creators.py
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Expand Up @@ -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,
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4 changes: 2 additions & 2 deletions extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi
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Expand Up @@ -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>