fix: restore typed Franka q_home default

Author: juelg

extensions/rcs_fr3/src/hw/Franka.h

@@ -43,9 +43,10 @@ struct FrankaConfig : common::RobotConfig {
   bool async_control = false;
   bool tcp_offset_configured_in_desk = true;
   bool ignore_realtime = false;
-  q_home = (VectorXd(7) << 0.0, -M_PI_4, 0.0, -3.0 * M_PI_4, 0.0, M_PI_2,
-            M_PI_4)
-               .finished();
+  std::optional<common::VectorXd> q_home =
+      (common::VectorXd(7) << 0.0, -M_PI_4, 0.0, -3.0 * M_PI_4, 0.0, M_PI_2,
+       M_PI_4)
+          .finished();
   size_t dof = 7;
   Eigen::Matrix<double, 2, Eigen::Dynamic, Eigen::ColMajor> joint_limits = 
            (Eigen::Matrix<double, 2, Eigen::Dynamic, Eigen::ColMajor>(2, 7) <<

extensions/rcs_fr3/src/rcs_fr3/__init__.py

@@ -1,6 +1,7 @@
-from rcs_fr3 import configs, desk, envs
 from rcs_fr3._core import __version__, hw
 
+from . import configs, desk, envs
+
 __all__ = [
     "configs",
     "desk",

extensions/rcs_fr3/src/rcs_fr3/configs.py

@@ -2,7 +2,7 @@
 
 import numpy as np
 from rcs.envs.base import ControlMode, RelativeTo
-from rcs_fr3 import hw
+from rcs_fr3._core import hw
 from rcs_fr3.creators import (
     FR3HardwareEnvCreatorConfig,
     FR3MultiHardwareEnvCreatorConfig,

extensions/rcs_fr3/src/rcs_fr3/creators.py

@@ -22,7 +22,7 @@
 )
 from rcs.envs.scenes import RCSEnvCreator, WrapperConfig
 from rcs.hand.tilburg_hand import TilburgHand
-from rcs_fr3 import hw
+from rcs_fr3._core import hw
 from rcs_fr3.envs import FR3HW
 
 import rcs

extensions/rcs_panda/src/rcs_panda/__init__.py

@@ -1,6 +1,7 @@
-from rcs_panda import configs, envs
 from rcs_panda._core import __version__, hw
 
+from . import configs, envs
+
 __all__ = [
     "configs",
     "hw",

extensions/rcs_panda/src/rcs_panda/configs.py

@@ -3,7 +3,7 @@
 import numpy as np
 from rcs._core.common import RobotType
 from rcs.envs.base import ControlMode, RelativeTo
-from rcs_panda import hw
+from rcs_panda._core import hw
 from rcs_panda.creators import (
     PandaHardwareEnvCreatorConfig,
     PandaMultiHardwareEnvCreatorConfig,

extensions/rcs_panda/src/rcs_panda/creators.py

@@ -20,7 +20,7 @@
 )
 from rcs.envs.scenes import RCSEnvCreator, WrapperConfig
 from rcs.hand.tilburg_hand import TilburgHand
-from rcs_panda import hw
+from rcs_panda._core import hw
 from rcs_panda.envs import PandaHW
 
 import rcs