fix(extensions): missing franka config constructor (#227)

- missing constructors in derived franka config classes
- missing `self` argument in fr3 multi robot env

Author: juelg

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(

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>

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,

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>