fix(fr3): pybind rcs module refs

Author: juelg

extensions/rcs_fr3/src/pybind/CMakeLists.txt

@@ -7,7 +7,7 @@ set_target_properties(franka PROPERTIES
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
 set_target_properties(_core PROPERTIES
-    INSTALL_RPATH "$ORIGIN;$ORIGIN/../rcs_fr3"
+    INSTALL_RPATH "$ORIGIN;$ORIGIN/../rcs"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
 # in pip

extensions/rcs_fr3/src/pybind/rcs.cpp

@@ -42,7 +42,8 @@ PYBIND11_MODULE(_core, m) {
   // HARDWARE MODULE
   auto hw = m.def_submodule("hw", "rcs fr3 module");
 
-  py::class_<rcs::hw::FR3State, rcs::common::RobotState>(hw, "FR3State")
+  py::object robot_state = (py::object) py::module_::import("rcs").attr("common").attr("RobotState");
+  py::class_<rcs::hw::FR3State>(hw, "FR3State", robot_state)
       .def(py::init<>());
   py::class_<rcs::hw::FR3Load>(hw, "FR3Load")
       .def(py::init<>())
@@ -55,7 +56,8 @@ PYBIND11_MODULE(_core, m) {
       .value("rcs_ik", rcs::hw::IKSolver::rcs_ik)
       .export_values();
 
-  py::class_<rcs::hw::FR3Config, rcs::common::RobotConfig>(hw, "FR3Config")
+  py::object robot_config = (py::object) py::module_::import("rcs").attr("common").attr("RobotConfig");
+  py::class_<rcs::hw::FR3Config>(hw, "FR3Config", robot_config)
       .def(py::init<>())
       .def_readwrite("ik_solver", &rcs::hw::FR3Config::ik_solver)
       .def_readwrite("speed_factor", &rcs::hw::FR3Config::speed_factor)
@@ -66,7 +68,8 @@ PYBIND11_MODULE(_core, m) {
       .def_readwrite("tcp_offset", &rcs::hw::FR3Config::tcp_offset)
       .def_readwrite("async_control", &rcs::hw::FR3Config::async_control);
 
-  py::class_<rcs::hw::FHConfig, rcs::common::GripperConfig>(hw, "FHConfig")
+  py::object gripper_config = (py::object) py::module_::import("rcs").attr("common").attr("GripperConfig");
+  py::class_<rcs::hw::FHConfig>(hw, "FHConfig", gripper_config)
       .def(py::init<>())
       .def_readwrite("grasping_width", &rcs::hw::FHConfig::grasping_width)
       .def_readwrite("speed", &rcs::hw::FHConfig::speed)
@@ -75,7 +78,8 @@ PYBIND11_MODULE(_core, m) {
       .def_readwrite("epsilon_outer", &rcs::hw::FHConfig::epsilon_outer)
       .def_readwrite("async_control", &rcs::hw::FHConfig::async_control);
 
-  py::class_<rcs::hw::FHState, rcs::common::GripperState>(hw, "FHState")
+  py::object gripper_state = (py::object) py::module_::import("rcs").attr("common").attr("GripperState");
+  py::class_<rcs::hw::FHState>(hw, "FHState", gripper_state)
       .def(py::init<>())
       .def_readonly("width", &rcs::hw::FHState::width)
       .def_readonly("is_grasped", &rcs::hw::FHState::is_grasped)
@@ -87,8 +91,9 @@ PYBIND11_MODULE(_core, m) {
                     &rcs::hw::FHState::max_unnormalized_width)
       .def_readonly("temperature", &rcs::hw::FHState::temperature);
 
-  py::class_<rcs::hw::FR3, rcs::common::Robot, std::shared_ptr<rcs::hw::FR3>>(
-      hw, "FR3")
+  py::object robot = (py::object) py::module_::import("rcs").attr("common").attr("Robot");
+  py::class_<rcs::hw::FR3, std::shared_ptr<rcs::hw::FR3>>(
+      hw, "FR3", robot)
       .def(py::init<const std::string &,
                     std::optional<std::shared_ptr<rcs::common::IK>>>(),
            py::arg("ip"), py::arg("ik") = std::nullopt)
@@ -117,8 +122,9 @@ PYBIND11_MODULE(_core, m) {
            &rcs::hw::FR3::set_cartesian_position_internal, py::arg("pose"),
            py::arg("max_time"), py::arg("elbow"), py::arg("max_force") = 5);
 
-  py::class_<rcs::hw::FrankaHand, rcs::common::Gripper,
-             std::shared_ptr<rcs::hw::FrankaHand>>(hw, "FrankaHand")
+  py::object gripper = (py::object) py::module_::import("rcs").attr("common").attr("Gripper");
+  py::class_<rcs::hw::FrankaHand,
+             std::shared_ptr<rcs::hw::FrankaHand>>(hw, "FrankaHand", gripper)
       .def(py::init<const std::string &, const rcs::hw::FHConfig &>(),
            py::arg("ip"), py::arg("cfg"))
       .def("get_parameters", &rcs::hw::FrankaHand::get_parameters)

extensions/rcs_fr3/src/rcs_fr3/creators.py

@@ -47,12 +47,12 @@ def __call__(  # type: ignore
         Args:
             ip (str): IP address of the robot.
             control_mode (ControlMode): Control mode for the robot.
-            robot_cfg (rcs.hw.FR3Config): Configuration for the FR3 robot.
+            robot_cfg (hw.FR3Config): Configuration for the FR3 robot.
             collision_guard (str | PathLike | None): Key to a built-in scene
-            robot_cfg (rcs.hw.FR3Config): Configuration for the FR3 robot.
+            robot_cfg (hw.FR3Config): Configuration for the FR3 robot.
             collision_guard (str | PathLike | None): Key to a scene (requires UTN compatible scene package to be present)
                 or the path to a mujoco scene for collision guarding. If None, collision guarding is not used.
-            gripper_cfg (rcs.hw.FHConfig | None): Configuration for the gripper. If None, no gripper is used.
+            gripper_cfg (hw.FHConfig | None): Configuration for the gripper. If None, no gripper is used.
             camera_set (BaseHardwareCameraSet | None): Camera set to be used. If None, no cameras are used.
             max_relative_movement (float | tuple[float, float] | None): Maximum allowed movement. If float, it restricts
                 translational movement in meters. If tuple, it restricts both translational (in meters) and rotational