diff --git a/extensions/rcs_fr3/src/pybind/rcs.cpp b/extensions/rcs_fr3/src/pybind/rcs.cpp
index 453a224e..8c8de868 100644
--- a/extensions/rcs_fr3/src/pybind/rcs.cpp
+++ b/extensions/rcs_fr3/src/pybind/rcs.cpp
@@ -172,8 +172,10 @@ PYBIND11_MODULE(_core, m) {
   py::class_<rcs::hw::Franka, std::shared_ptr<rcs::hw::Franka>>(hw, "Franka",
                                                                 robot)
       .def(py::init<const std::string&,
-                    std::optional<std::shared_ptr<rcs::common::Kinematics>>>(),
-           py::arg("ip"), py::arg("ik") = std::nullopt)
+                    std::optional<std::shared_ptr<rcs::common::Kinematics>>,
+                    const std::optional<rcs::hw::FrankaConfig>&>(),
+           py::arg("ip"), py::arg("ik") = std::nullopt,
+           py::arg("cfg") = std::nullopt)
       .def("set_config", &rcs::hw::Franka::set_config, py::arg("cfg"))
       .def("get_config", &rcs::hw::Franka::get_config)
       .def("get_state", &rcs::hw::Franka::get_state)
diff --git a/extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi b/extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi
index 4713bfa1..f1d22f37 100644
--- a/extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi
+++ b/extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi
@@ -64,7 +64,9 @@ class FHState(rcs._core.common.GripperState):
     def width(self) -> float: ...
 
 class Franka(rcs._core.common.Robot):
-    def __init__(self, ip: str, ik: rcs._core.common.Kinematics | None = None) -> None: ...
+    def __init__(
+        self, ip: str, ik: rcs._core.common.Kinematics | None = None, cfg: FrankaConfig | None = None
+    ) -> None: ...
     def automatic_error_recovery(self) -> None: ...
     def controller_set_joint_position(
         self, desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]
diff --git a/extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi b/extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi
index 4713bfa1..f1d22f37 100644
--- a/extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi
+++ b/extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi
@@ -64,7 +64,9 @@ class FHState(rcs._core.common.GripperState):
     def width(self) -> float: ...
 
 class Franka(rcs._core.common.Robot):
-    def __init__(self, ip: str, ik: rcs._core.common.Kinematics | None = None) -> None: ...
+    def __init__(
+        self, ip: str, ik: rcs._core.common.Kinematics | None = None, cfg: FrankaConfig | None = None
+    ) -> None: ...
     def automatic_error_recovery(self) -> None: ...
     def controller_set_joint_position(
         self, desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]