chore: cpp format and stubgen

Author: juelg

extensions/rcs_fr3/src/pybind/rcs.cpp

@@ -134,8 +134,7 @@ PYBIND11_MODULE(_core, m) {
            py::arg("ip"), py::arg("cfg"))
       .def("get_config", &rcs::hw::FrankaHand::get_config)
       .def("get_state", &rcs::hw::FrankaHand::get_state)
-      .def("set_config", &rcs::hw::FrankaHand::set_config,
-           py::arg("cfg"))
+      .def("set_config", &rcs::hw::FrankaHand::set_config, py::arg("cfg"))
       .def("is_grasped", &rcs::hw::FrankaHand::is_grasped)
       .def("homing", &rcs::hw::FrankaHand::homing);
 

extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi

@@ -65,6 +65,7 @@ class FR3(rcs._core.common.Robot):
         self, pose: rcs._core.common.Pose, max_time: float, elbow: float | None, max_force: float | None = 5
     ) -> None: ...
     def set_cartesian_position_internal(self, pose: rcs._core.common.Pose) -> None: ...
+    def set_config(self, cfg: FR3Config) -> bool: ...
     def set_default_robot_behavior(self) -> None: ...
     def set_guiding_mode(
         self,
@@ -76,7 +77,6 @@ class FR3(rcs._core.common.Robot):
         yaw: bool = True,
         elbow: bool = True,
     ) -> None: ...
-    def set_config(self, cfg: FR3Config) -> bool: ...
     def stop_control_thread(self) -> None: ...
     def zero_torque_guiding(self) -> None: ...
 

src/pybind/rcs.cpp

@@ -517,8 +517,7 @@ PYBIND11_MODULE(_core, m) {
            py::arg("sim"), py::arg("cfg"))
       .def("get_config", &rcs::sim::SimGripper::get_config)
       .def("get_state", &rcs::sim::SimGripper::get_state)
-      .def("set_config", &rcs::sim::SimGripper::set_config,
-           py::arg("cfg"));
+      .def("set_config", &rcs::sim::SimGripper::set_config, py::arg("cfg"));
   py::class_<rcs::sim::SimRobot, rcs::common::Robot,
              std::shared_ptr<rcs::sim::SimRobot>>(sim, "SimRobot")
       .def(py::init<std::shared_ptr<rcs::sim::Sim>,
@@ -527,8 +526,7 @@ PYBIND11_MODULE(_core, m) {
            py::arg("sim"), py::arg("ik"), py::arg("cfg"),
            py::arg("register_convergence_callback") = true)
       .def("get_config", &rcs::sim::SimRobot::get_config)
-      .def("set_config", &rcs::sim::SimRobot::set_config,
-           py::arg("cfg"))
+      .def("set_config", &rcs::sim::SimRobot::set_config, py::arg("cfg"))
       .def("set_joints_hard", &rcs::sim::SimRobot::set_joints_hard,
            py::arg("q"))
       .def("get_state", &rcs::sim::SimRobot::get_state);
@@ -570,8 +568,7 @@ PYBIND11_MODULE(_core, m) {
            py::arg("sim"), py::arg("cfg"))
       .def("get_config", &rcs::sim::SimTilburgHand::get_config)
       .def("get_state", &rcs::sim::SimTilburgHand::get_state)
-      .def("set_config", &rcs::sim::SimTilburgHand::set_config,
-           py::arg("cfg"));
+      .def("set_config", &rcs::sim::SimTilburgHand::set_config, py::arg("cfg"));
 
   py::enum_<rcs::sim::CameraType>(sim, "CameraType")
       .value("free", rcs::sim::CameraType::free)