refactor: stubs and ik solver rename to fit rcs package

Author: juelg

python/examples/fr3.py

@@ -94,7 +94,7 @@ def main():
             robot = rcs.hw.FR3(ROBOT_IP, ik)
             robot_cfg = FR3Config()
             robot_cfg.tcp_offset = rcs.common.Pose(rcs.common.FrankaHandTCPOffset())
-            robot_cfg.ik_solver = IKSolver.rcs
+            robot_cfg.ik_solver = IKSolver.rcs_ik
             robot.set_parameters(robot_cfg)
 
             gripper_cfg_hw = rcs.hw.FHConfig()

python/rcs/_core/hw/__init__.pyi

@@ -21,8 +21,8 @@ __all__ = [
     "FrankaHand",
     "IKSolver",
     "exceptions",
-    "franka",
-    "rcs",
+    "franka_ik",
+    "rcs_ik",
 ]
 
 class FHConfig(rcs._core.common.GripperConfig):
@@ -111,16 +111,16 @@ class IKSolver:
     """
     Members:
 
-      franka
+      franka_ik
 
-      rcs
+      rcs_ik
     """
 
     __members__: typing.ClassVar[
         dict[str, IKSolver]
-    ]  # value = {'franka': <IKSolver.franka: 0>, 'rcs': <IKSolver.rcs: 1>}
-    franka: typing.ClassVar[IKSolver]  # value = <IKSolver.franka: 0>
-    rcs: typing.ClassVar[IKSolver]  # value = <IKSolver.rcs: 1>
+    ]  # value = {'franka_ik': <IKSolver.franka_ik: 0>, 'rcs_ik': <IKSolver.rcs_ik: 1>}
+    franka_ik: typing.ClassVar[IKSolver]  # value = <IKSolver.franka_ik: 0>
+    rcs_ik: typing.ClassVar[IKSolver]  # value = <IKSolver.rcs_ik: 1>
     def __eq__(self, other: typing.Any) -> bool: ...
     def __getstate__(self) -> int: ...
     def __hash__(self) -> int: ...
@@ -136,5 +136,5 @@ class IKSolver:
     @property
     def value(self) -> int: ...
 
-franka: IKSolver  # value = <IKSolver.franka: 0>
-rcs: IKSolver  # value = <IKSolver.rcs: 1>
+franka_ik: IKSolver  # value = <IKSolver.franka_ik: 0>
+rcs_ik: IKSolver  # value = <IKSolver.rcs_ik: 1>

python/rcs/control/fr3_desk.py

@@ -40,7 +40,7 @@ def home(ip: str, username: str, password: str, shut: bool, unlock: bool = False
         f = rcs.hw.FR3(ip)
         config = rcs.hw.FR3Config()
         config.speed_factor = 0.2
-        config.ik_solver = rcs.hw.IKSolver.franka
+        config.ik_solver = rcs.hw.IKSolver.franka_ik
         f.set_parameters(config)
         config_hand = rcs.hw.FHConfig()
         g = rcs.hw.FrankaHand(ip, config_hand)

python/rcs/envs/utils.py

@@ -27,7 +27,7 @@ def default_fr3_hw_robot_cfg(async_control: bool = False):
     robot_cfg = FR3Config()
     robot_cfg.tcp_offset = rcs.common.Pose(rcs.common.FrankaHandTCPOffset())
     robot_cfg.speed_factor = 0.1
-    robot_cfg.ik_solver = IKSolver.rcs
+    robot_cfg.ik_solver = IKSolver.rcs_ik
     robot_cfg.async_control = async_control
     return robot_cfg
 

src/hw/FR3.cpp

@@ -669,13 +669,13 @@ void FR3::set_cartesian_position(const common::Pose &x) {
   // nominal end effector frame should be on top of tcp offset as franka already
   // takes care of the default franka hand offset lets add a franka hand offset
 
-  if (this->cfg.ik_solver == IKSolver::franka) {
+  if (this->cfg.ik_solver == IKSolver::franka_ik) {
     // if gripper is attached the tcp offset will automatically be applied
     // by libfranka
     this->robot.setEE(nominal_end_effector_frame_value.affine_array());
     this->set_cartesian_position_internal(x, 1.0, std::nullopt, std::nullopt);
 
-  } else if (this->cfg.ik_solver == IKSolver::rcs) {
+  } else if (this->cfg.ik_solver == IKSolver::rcs_ik) {
     this->set_cartesian_position_ik(x);
   }
 }

src/hw/FR3.h

@@ -25,15 +25,15 @@ struct FR3Load {
   std::optional<Eigen::Vector3d> f_x_cload;
   std::optional<Eigen::Matrix3d> load_inertia;
 };
-enum IKSolver { franka = 0, rcs };
+enum IKSolver { franka_ik = 0, rcs_ik };
 // modes: joint-space control, operational-space control, zero-torque
 // control
 enum Controller { none = 0, jsc, osc, ztc };
 struct FR3Config : common::RobotConfig {
   // TODO: max force and elbow?
   // TODO: we can either write specific bindings for each, or we use python
   // dictionaries with these objects
-  IKSolver ik_solver = IKSolver::franka;
+  IKSolver ik_solver = IKSolver::franka_ik;
   double speed_factor = DEFAULT_SPEED_FACTOR;
   std::optional<FR3Load> load_parameters = std::nullopt;
   std::optional<common::Pose> nominal_end_effector_frame = std::nullopt;

src/pybind/rcs.cpp

@@ -304,8 +304,8 @@ PYBIND11_MODULE(_core, m) {
       .def_readwrite("load_inertia", &rcs::hw::FR3Load::load_inertia);
 
   py::enum_<rcs::hw::IKSolver>(hw, "IKSolver")
-      .value("franka", rcs::hw::IKSolver::franka)
-      .value("rcs", rcs::hw::IKSolver::rcs)
+      .value("franka_ik", rcs::hw::IKSolver::franka_ik)
+      .value("rcs_ik", rcs::hw::IKSolver::rcs_ik)
       .export_values();
 
   py::class_<rcs::hw::FR3Config, rcs::common::RobotConfig>(hw, "FR3Config")