From 3916344e82f2199002541719b66a76218e4fbfc5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Sun, 21 Jun 2026 13:12:24 -0700
Subject: [PATCH 01/15] docs: added documentation for assets path

---
 README.md                     | 10 ++++++++++
 docs/getting_started/index.md | 10 ++++++++++
 2 files changed, 20 insertions(+)

diff --git a/README.md b/README.md
index d88d7365..8579cb4d 100644
--- a/README.md
+++ b/README.md
@@ -152,6 +152,16 @@ pip install -ve .
 
 ```
 
+### RCS Asset Cache
+
+RCS resolves its asset directory from the `RCS_PREFIX` environment variable. When it is unset, RCS defaults to `~/.rcs`.
+
+On import, RCS checks whether that path exists. If it does not, it downloads the matching asset archive from GitHub into that location automatically.
+
+```shell
+export RCS_PREFIX=/path/to/rcs-assets
+```
+
 ### Via PyPI/pip
 
 *Coming soon...*
diff --git a/docs/getting_started/index.md b/docs/getting_started/index.md
index cdfac035..72ef4747 100644
--- a/docs/getting_started/index.md
+++ b/docs/getting_started/index.md
@@ -36,6 +36,16 @@ pip install -ve .
 
 For a docker deployment, see the `docker` folder in the repository.
 
+## RCS Asset Cache
+
+RCS resolves its asset directory from the `RCS_PREFIX` environment variable. If `RCS_PREFIX` is not set, it defaults to `~/.rcs`.
+
+On import, RCS checks whether that path exists. If it does not, it downloads the matching asset archive from GitHub into that location automatically.
+
+```shell
+export RCS_PREFIX=/path/to/rcs-assets
+```
+
 ## Basic Usage
 
 The python package is called `rcs`.

From e2b57f0abf69387994ede1831e0fc2722deae04b Mon Sep 17 00:00:00 2001
From: Tobias Juelg <tobias@juelg.net>
Date: Mon, 22 Jun 2026 01:11:30 +0200
Subject: [PATCH 02/15] fix(pypi): pin compatible pinocchio runtime deps

---
 pyproject.toml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index ca7d0c3d..430a8da9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,6 +39,9 @@ dependencies = [
   "simplejpeg",
   "mujoco==3.2.6",
   "pin==3.7.0",
+  # pin 3.7.0 currently resolves against older urdfdom/tinyxml SONAMEs at runtime
+  "cmeel-urdfdom<5",
+  "cmeel-tinyxml2<11",
   "greenlet",
   "duckdb",
   "pandas",
@@ -74,6 +77,8 @@ dev = [
 build_deps = [
   "mujoco==3.2.6",
   "pin==3.7.0",
+  "cmeel-urdfdom<5",
+  "cmeel-tinyxml2<11",
 ]
 
 [tool.cibuildwheel]

From 4f77cbf5585b3448a13857cc4952f4022250b031 Mon Sep 17 00:00:00 2001
From: Tobias Juelg <tobias@juelg.net>
Date: Mon, 22 Jun 2026 01:11:30 +0200
Subject: [PATCH 03/15] fix(egl): fail fast when rendering is requested without
 egl

---
 python/rcs/camera/sim.py        |  2 ++
 python/rcs/sim/egl_bootstrap.py | 29 ++++++++++++++++++++++++++---
 src/rcs/utils.cpp               |  8 ++++++++
 3 files changed, 36 insertions(+), 3 deletions(-)

diff --git a/python/rcs/camera/sim.py b/python/rcs/camera/sim.py
index a374bc97..d508165a 100644
--- a/python/rcs/camera/sim.py
+++ b/python/rcs/camera/sim.py
@@ -11,6 +11,7 @@
 from rcs._core.sim import SimCameraConfig
 from rcs._core.sim import SimCameraSet as _SimCameraSet
 from rcs.camera.interface import BaseCameraSet, CameraFrame, DataFrame, Frame, FrameSet
+from rcs.sim import egl_bootstrap
 
 from rcs import sim
 
@@ -31,6 +32,7 @@ def __init__(
         self.cameras = cameras
         self.physical_units = physical_units
 
+        egl_bootstrap.require("simulation camera rendering")
         super().__init__(simulation, cameras, render_on_demand=render_on_demand)
         self._sim: sim.Sim
 
diff --git a/python/rcs/sim/egl_bootstrap.py b/python/rcs/sim/egl_bootstrap.py
index 57884bde..9aa2d95a 100644
--- a/python/rcs/sim/egl_bootstrap.py
+++ b/python/rcs/sim/egl_bootstrap.py
@@ -10,12 +10,15 @@
 import os
 
 _egl_available = False
+_egl_error = None
 _addr_make_current = None
 _egl_display = None
 _egl_context = None
 
 name = ctypes.util.find_library("EGL")
-if name is not None:
+if name is None:
+    _egl_error = "Could not find libEGL via ctypes.util.find_library('EGL')."
+else:
     try:
         import mujoco.egl
         from mujoco.egl import GLContext
@@ -26,8 +29,28 @@
         _egl_display = int(mujoco.egl.EGL_DISPLAY.address)
         _egl_context = int(_ctx._context.address)
         _egl_available = True
-    except Exception:
-        pass
+    except Exception as exc:
+        _egl_error = f"Failed to initialize MuJoCo EGL context: {exc!r}"
+
+
+def is_available() -> bool:
+    return _egl_available
+
+
+def failure_reason() -> str | None:
+    return _egl_error
+
+
+def require(feature: str = "offscreen rendering"):
+    if _egl_available:
+        return
+    reason = _egl_error or "unknown EGL initialization failure"
+    message = (
+        f"EGL is required for {feature}, but it is not available. {reason} "
+        "If you do not need rendering, run RCS without simulation cameras/viewers. "
+        "If you do need headless rendering, install the system EGL/OpenGL runtime libraries."
+    )
+    raise RuntimeError(message)
 
 
 def bootstrap():
diff --git a/src/rcs/utils.cpp b/src/rcs/utils.cpp
index d348375b..18a4e58b 100644
--- a/src/rcs/utils.cpp
+++ b/src/rcs/utils.cpp
@@ -18,6 +18,14 @@ void bootstrap_egl(uintptr_t fn_addr, uintptr_t dpy, uintptr_t ctx) {
 }
 
 void ensure_current() {
+  if (g_makeCurrent == nullptr || g_display == EGL_NO_DISPLAY ||
+      g_context == EGL_NO_CONTEXT) {
+    throw std::runtime_error(
+        "EGL rendering was requested, but EGL was not bootstrapped. "
+        "This usually means libEGL or the MuJoCo EGL context is unavailable. "
+        "Run without cameras/viewers if you do not need rendering, or install "
+        "the required system EGL/OpenGL runtime libraries.");
+  }
   if (!g_makeCurrent(g_display, g_surface, g_surface, g_context))
     throw std::runtime_error("eglMakeCurrent failed");
 }

From 0593811acd646cfc4228847d315b8934826f30f7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Wed, 24 Jun 2026 21:30:24 -0700
Subject: [PATCH 04/15] chore: rename python package to rcs_core

---
 pyproject.toml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 430a8da9..c7c3de94 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -13,9 +13,9 @@ requires = [
 build-backend = "scikit_build_core.build"
 
 [project]
-name = "rcs"
+name = "rcs_core"
 version = "0.7.1"
-description = "A Lean Ecosystem for Robot Learning at Scale"
+description = "A lean, ROS-free sim-to-real framework for training and deploying Vision-Language-Action (VLA) models and RL agents. Native MuJoCo Gymnasium wrappers with synchronous execution for Franka, UR5e, xArm, and SO101."
 dependencies = [
   "websockets>=11.0",
   "requests~=2.31",

From e01e84f0fed54314e447ec02ab4dfe12730ef0b0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Wed, 24 Jun 2026 22:04:38 -0700
Subject: [PATCH 05/15] chore: remove global pynput dependency

---
 pyproject.toml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index c7c3de94..2ffc4658 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,7 +26,6 @@ dependencies = [
   "etils[epath]>=1.7.0",
   "glfw~=2.7",
   "pyopengl~=3.1.9",
-  "pynput>=1.7.7",
   "pillow>=10.3",
   "python-dotenv>=1.0.1",
   "opencv-python~=4.10.0.84",

From ece23f83114e87040322e9d1973814e3733d1117 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Wed, 24 Jun 2026 22:04:48 -0700
Subject: [PATCH 06/15] =?UTF-8?q?bump:=20version=200.7.1=20=E2=86=92=200.7?=
 =?UTF-8?q?.2?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 CHANGELOG.md                                              | 8 ++++++++
 CMakeLists.txt                                            | 2 +-
 extensions/rcs_fr3/CMakeLists.txt                         | 2 +-
 extensions/rcs_fr3/pyproject.toml                         | 4 ++--
 extensions/rcs_fr3/src/rcs_fr3/_core/__init__.pyi         | 2 +-
 extensions/rcs_panda/CMakeLists.txt                       | 2 +-
 extensions/rcs_panda/pyproject.toml                       | 4 ++--
 extensions/rcs_panda/src/rcs_panda/_core/__init__.pyi     | 2 +-
 extensions/rcs_realsense/pyproject.toml                   | 4 ++--
 extensions/rcs_realsense/src/rcs_realsense/__init__.py    | 2 +-
 extensions/rcs_robotics_library/CMakeLists.txt            | 2 +-
 extensions/rcs_robotics_library/pyproject.toml            | 4 ++--
 .../src/rcs_robotics_library/_core/__init__.pyi           | 2 +-
 extensions/rcs_robotiq2f85/pyproject.toml                 | 4 ++--
 .../rcs_robotiq2f85/src/rcs_robotiq2f85/__init__.py       | 2 +-
 extensions/rcs_so101/CMakeLists.txt                       | 2 +-
 extensions/rcs_so101/pyproject.toml                       | 4 ++--
 extensions/rcs_so101/src/rcs_so101/_core/__init__.pyi     | 2 +-
 extensions/rcs_tacto/pyproject.toml                       | 4 ++--
 extensions/rcs_tacto/src/rcs_tacto/__init__.py            | 2 +-
 extensions/rcs_ur5e/pyproject.toml                        | 4 ++--
 extensions/rcs_ur5e/src/rcs_ur5e/__init__.py              | 2 +-
 extensions/rcs_xarm7/pyproject.toml                       | 4 ++--
 extensions/rcs_xarm7/src/rcs_xarm7/__init__.py            | 2 +-
 pyproject.toml                                            | 2 +-
 python/rcs/_core/__init__.pyi                             | 2 +-
 26 files changed, 42 insertions(+), 34 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index c3525275..9c21dfa5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,11 @@
+## v0.7.2 (2026-06-24)
+
+### Fix
+
+- **egl**: fail fast when rendering is requested without egl
+- **pypi**: pin compatible pinocchio runtime deps
+- sim reset (#314)
+
 ## v0.7.1 (2026-06-02)
 
 ### Feat
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 972a0a5f..a9d48a8b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5)
 project(
     rcs
     LANGUAGES C CXX
-    VERSION 0.7.1
+    VERSION 0.7.2
     DESCRIPTION "Robot Control Stack Library"
 )
 
diff --git a/extensions/rcs_fr3/CMakeLists.txt b/extensions/rcs_fr3/CMakeLists.txt
index a6213135..46689427 100644
--- a/extensions/rcs_fr3/CMakeLists.txt
+++ b/extensions/rcs_fr3/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.24)
 project(
     rcs_fr3
     LANGUAGES C CXX
-    VERSION 0.7.1
+    VERSION 0.7.2
     DESCRIPTION "RCS Libfranka integration"
 )
 
diff --git a/extensions/rcs_fr3/pyproject.toml b/extensions/rcs_fr3/pyproject.toml
index aeb0d289..d62c3370 100644
--- a/extensions/rcs_fr3/pyproject.toml
+++ b/extensions/rcs_fr3/pyproject.toml
@@ -13,9 +13,9 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "rcs_fr3"
-version = "0.7.1"
+version = "0.7.2"
 description = "RCS libfranka integration"
-dependencies = ["rcs>=0.7.1", "frankik"]
+dependencies = ["rcs>=0.7.2", "frankik"]
 readme = "README.md"
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
diff --git a/extensions/rcs_fr3/src/rcs_fr3/_core/__init__.pyi b/extensions/rcs_fr3/src/rcs_fr3/_core/__init__.pyi
index 7a5f99cc..78b6b4cc 100644
--- a/extensions/rcs_fr3/src/rcs_fr3/_core/__init__.pyi
+++ b/extensions/rcs_fr3/src/rcs_fr3/_core/__init__.pyi
@@ -16,4 +16,4 @@ from __future__ import annotations
 from . import hw
 
 __all__: list[str] = ["hw"]
-__version__: str = "0.7.1"
+__version__: str = "0.7.2"
diff --git a/extensions/rcs_panda/CMakeLists.txt b/extensions/rcs_panda/CMakeLists.txt
index 775e2235..01a83198 100644
--- a/extensions/rcs_panda/CMakeLists.txt
+++ b/extensions/rcs_panda/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.24)
 project(
     rcs_panda
     LANGUAGES C CXX
-    VERSION 0.7.1
+    VERSION 0.7.2
     DESCRIPTION "RCS Libfranka integration"
 )
 
diff --git a/extensions/rcs_panda/pyproject.toml b/extensions/rcs_panda/pyproject.toml
index f3552688..7194a38b 100644
--- a/extensions/rcs_panda/pyproject.toml
+++ b/extensions/rcs_panda/pyproject.toml
@@ -12,9 +12,9 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "rcs_panda"
-version = "0.7.1"
+version = "0.7.2"
 description = "RCS libfranka integration"
-dependencies = ["rcs>=0.7.1"]
+dependencies = ["rcs>=0.7.2"]
 readme = "README.md"
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
diff --git a/extensions/rcs_panda/src/rcs_panda/_core/__init__.pyi b/extensions/rcs_panda/src/rcs_panda/_core/__init__.pyi
index 7a5f99cc..78b6b4cc 100644
--- a/extensions/rcs_panda/src/rcs_panda/_core/__init__.pyi
+++ b/extensions/rcs_panda/src/rcs_panda/_core/__init__.pyi
@@ -16,4 +16,4 @@ from __future__ import annotations
 from . import hw
 
 __all__: list[str] = ["hw"]
-__version__: str = "0.7.1"
+__version__: str = "0.7.2"
diff --git a/extensions/rcs_realsense/pyproject.toml b/extensions/rcs_realsense/pyproject.toml
index 8dc82aa6..addfbd8f 100644
--- a/extensions/rcs_realsense/pyproject.toml
+++ b/extensions/rcs_realsense/pyproject.toml
@@ -4,10 +4,10 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rcs_realsense"
-version = "0.7.1"
+version = "0.7.2"
 description = "RCS realsense module"
 dependencies = [
-  "rcs>=0.7.1",
+  "rcs>=0.7.2",
   "pyrealsense2~=2.55.1",
   "pupil_apriltags",
   "diskcache",
diff --git a/extensions/rcs_realsense/src/rcs_realsense/__init__.py b/extensions/rcs_realsense/src/rcs_realsense/__init__.py
index a5f830a2..bc8c296f 100644
--- a/extensions/rcs_realsense/src/rcs_realsense/__init__.py
+++ b/extensions/rcs_realsense/src/rcs_realsense/__init__.py
@@ -1 +1 @@
-__version__ = "0.7.1"
+__version__ = "0.7.2"
diff --git a/extensions/rcs_robotics_library/CMakeLists.txt b/extensions/rcs_robotics_library/CMakeLists.txt
index a9849ae4..e27f0940 100644
--- a/extensions/rcs_robotics_library/CMakeLists.txt
+++ b/extensions/rcs_robotics_library/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.19)
 project(
     rcs_fr3
     LANGUAGES C CXX
-    VERSION 0.7.1
+    VERSION 0.7.2
     DESCRIPTION "RCS robotics library integration"
 )
 
diff --git a/extensions/rcs_robotics_library/pyproject.toml b/extensions/rcs_robotics_library/pyproject.toml
index c0b6e00f..a3a1079a 100644
--- a/extensions/rcs_robotics_library/pyproject.toml
+++ b/extensions/rcs_robotics_library/pyproject.toml
@@ -12,10 +12,10 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "rcs_robotics_library"
-version = "0.7.1"
+version = "0.7.2"
 description = "RCS robotics library integration"
 readme = "README.md"
-dependencies = ["rcs>=0.7.1"]
+dependencies = ["rcs>=0.7.2"]
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [
   { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
diff --git a/extensions/rcs_robotics_library/src/rcs_robotics_library/_core/__init__.pyi b/extensions/rcs_robotics_library/src/rcs_robotics_library/_core/__init__.pyi
index 7e130934..d574dd50 100644
--- a/extensions/rcs_robotics_library/src/rcs_robotics_library/_core/__init__.pyi
+++ b/extensions/rcs_robotics_library/src/rcs_robotics_library/_core/__init__.pyi
@@ -16,4 +16,4 @@ from __future__ import annotations
 from . import rl
 
 __all__: list[str] = ["rl"]
-__version__: str = "0.7.1"
+__version__: str = "0.7.2"
diff --git a/extensions/rcs_robotiq2f85/pyproject.toml b/extensions/rcs_robotiq2f85/pyproject.toml
index 17625268..6168b7bf 100644
--- a/extensions/rcs_robotiq2f85/pyproject.toml
+++ b/extensions/rcs_robotiq2f85/pyproject.toml
@@ -4,10 +4,10 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rcs_robotiq2f85"
-version = "0.7.1"
+version = "0.7.2"
 description="RCS RobotiQ module"
 dependencies = [
-    "rcs>=0.7.1",
+    "rcs>=0.7.2",
     "2f85-python-driver @ git+https://github.com/RobotControlStack/2f85-python-driver.git",
 ]
 readme = "README.md"
diff --git a/extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/__init__.py b/extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/__init__.py
index a5f830a2..bc8c296f 100644
--- a/extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/__init__.py
+++ b/extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/__init__.py
@@ -1 +1 @@
-__version__ = "0.7.1"
+__version__ = "0.7.2"
diff --git a/extensions/rcs_so101/CMakeLists.txt b/extensions/rcs_so101/CMakeLists.txt
index 3633b530..472128ef 100644
--- a/extensions/rcs_so101/CMakeLists.txt
+++ b/extensions/rcs_so101/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.19)
 project(
     rcs_so101
     LANGUAGES C CXX
-    VERSION 0.7.1
+    VERSION 0.7.2
     DESCRIPTION "RCS so101 ik"
 )
 
diff --git a/extensions/rcs_so101/pyproject.toml b/extensions/rcs_so101/pyproject.toml
index a4d45705..41fe4559 100644
--- a/extensions/rcs_so101/pyproject.toml
+++ b/extensions/rcs_so101/pyproject.toml
@@ -12,9 +12,9 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "rcs_so101"
-version = "0.7.1"
+version = "0.7.2"
 description = "RCS SO101 module"
-dependencies = ["rcs>=0.7.1", "lerobot==0.3.3"]
+dependencies = ["rcs>=0.7.2", "lerobot==0.3.3"]
 readme = "README.md"
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
diff --git a/extensions/rcs_so101/src/rcs_so101/_core/__init__.pyi b/extensions/rcs_so101/src/rcs_so101/_core/__init__.pyi
index 45ef0245..1baf0df9 100644
--- a/extensions/rcs_so101/src/rcs_so101/_core/__init__.pyi
+++ b/extensions/rcs_so101/src/rcs_so101/_core/__init__.pyi
@@ -16,4 +16,4 @@ from __future__ import annotations
 from . import so101_ik
 
 __all__: list[str] = ["so101_ik"]
-__version__: str = "0.7.1"
+__version__: str = "0.7.2"
diff --git a/extensions/rcs_tacto/pyproject.toml b/extensions/rcs_tacto/pyproject.toml
index 01e0121c..387f7bf3 100644
--- a/extensions/rcs_tacto/pyproject.toml
+++ b/extensions/rcs_tacto/pyproject.toml
@@ -4,10 +4,10 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rcs_tacto"
-version = "0.7.1"
+version = "0.7.2"
 description = "RCS integration of tacto"
 dependencies = [
-  "rcs>=0.7.1",
+  "rcs>=0.7.2",
   "omegaconf",
   "mujoco-tacto@git+https://github.com/utn-air/mujoco-tacto.git@main",
 ]
diff --git a/extensions/rcs_tacto/src/rcs_tacto/__init__.py b/extensions/rcs_tacto/src/rcs_tacto/__init__.py
index a5f830a2..bc8c296f 100644
--- a/extensions/rcs_tacto/src/rcs_tacto/__init__.py
+++ b/extensions/rcs_tacto/src/rcs_tacto/__init__.py
@@ -1 +1 @@
-__version__ = "0.7.1"
+__version__ = "0.7.2"
diff --git a/extensions/rcs_ur5e/pyproject.toml b/extensions/rcs_ur5e/pyproject.toml
index 59cb36b3..bedef490 100644
--- a/extensions/rcs_ur5e/pyproject.toml
+++ b/extensions/rcs_ur5e/pyproject.toml
@@ -4,9 +4,9 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rcs_ur5e"
-version = "0.7.1"
+version = "0.7.2"
 description = "RCS UR5e module"
-dependencies = ["rcs>=0.7.1", "ur_rtde==1.6.1"]
+dependencies = ["rcs>=0.7.2", "ur_rtde==1.6.1"]
 readme = "README.md"
 maintainers = [
   { name = "Johannes Hechtl", email = "johannes.hechtl@siemens.com" },
diff --git a/extensions/rcs_ur5e/src/rcs_ur5e/__init__.py b/extensions/rcs_ur5e/src/rcs_ur5e/__init__.py
index 08d80bee..deee221c 100644
--- a/extensions/rcs_ur5e/src/rcs_ur5e/__init__.py
+++ b/extensions/rcs_ur5e/src/rcs_ur5e/__init__.py
@@ -1,6 +1,6 @@
 from rcs_ur5e import configs, creators, hw
 
-__version__ = "0.7.1"
+__version__ = "0.7.2"
 
 __all__ = [
     "configs",
diff --git a/extensions/rcs_xarm7/pyproject.toml b/extensions/rcs_xarm7/pyproject.toml
index 488b8c07..ec6902b4 100644
--- a/extensions/rcs_xarm7/pyproject.toml
+++ b/extensions/rcs_xarm7/pyproject.toml
@@ -4,9 +4,9 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rcs_xarm7"
-version = "0.7.1"
+version = "0.7.2"
 description = "RCS xArm7 module"
-dependencies = ["rcs>=0.7.1", "xarm-python-sdk==1.17.0"]
+dependencies = ["rcs>=0.7.2", "xarm-python-sdk==1.17.0"]
 readme = "README.md"
 maintainers = [
   { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
diff --git a/extensions/rcs_xarm7/src/rcs_xarm7/__init__.py b/extensions/rcs_xarm7/src/rcs_xarm7/__init__.py
index 7c0cb857..aea67f74 100644
--- a/extensions/rcs_xarm7/src/rcs_xarm7/__init__.py
+++ b/extensions/rcs_xarm7/src/rcs_xarm7/__init__.py
@@ -1,6 +1,6 @@
 from rcs_xarm7 import configs, creators, hw
 
-__version__ = "0.7.1"
+__version__ = "0.7.2"
 
 __all__ = [
     "configs",
diff --git a/pyproject.toml b/pyproject.toml
index 2ffc4658..e1f05d18 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,7 +14,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "rcs_core"
-version = "0.7.1"
+version = "0.7.2"
 description = "A lean, ROS-free sim-to-real framework for training and deploying Vision-Language-Action (VLA) models and RL agents. Native MuJoCo Gymnasium wrappers with synchronous execution for Franka, UR5e, xArm, and SO101."
 dependencies = [
   "websockets>=11.0",
diff --git a/python/rcs/_core/__init__.pyi b/python/rcs/_core/__init__.pyi
index 7d6df81b..d1d5add8 100644
--- a/python/rcs/_core/__init__.pyi
+++ b/python/rcs/_core/__init__.pyi
@@ -16,4 +16,4 @@ from __future__ import annotations
 from . import common, sim
 
 __all__: list[str] = ["common", "sim"]
-__version__: str = "0.7.1"
+__version__: str = "0.8.0"

From e6a1c10ee08855d41fcab073e992aed33a4b5a8a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Fri, 26 Jun 2026 12:05:55 -0700
Subject: [PATCH 07/15] build: rename rcs to rcs-core

- fix rcs package name in extensions
- added rcs as dependency in build process
- improved robustness of downloading assets
---
 README.md                                     | 10 ++++---
 extensions/rcs_fr3/cmake/Findrcs.cmake        | 29 ++++++++++++++-----
 extensions/rcs_fr3/pyproject.toml             |  3 +-
 extensions/rcs_panda/cmake/Findrcs.cmake      | 29 ++++++++++++++-----
 extensions/rcs_panda/pyproject.toml           |  3 +-
 extensions/rcs_realsense/pyproject.toml       |  2 +-
 .../rcs_robotics_library/cmake/Findrcs.cmake  | 29 ++++++++++++++-----
 .../rcs_robotics_library/pyproject.toml       |  3 +-
 extensions/rcs_robotiq2f85/pyproject.toml     |  2 +-
 extensions/rcs_so101/cmake/Findrcs.cmake      | 29 ++++++++++++++-----
 extensions/rcs_so101/pyproject.toml           |  3 +-
 extensions/rcs_tacto/pyproject.toml           |  2 +-
 extensions/rcs_ur5e/pyproject.toml            |  2 +-
 extensions/rcs_xarm7/pyproject.toml           |  2 +-
 pyproject.toml                                | 19 ++++++------
 python/rcs/__init__.py                        |  6 +++-
 16 files changed, 122 insertions(+), 51 deletions(-)

diff --git a/README.md b/README.md
index 8579cb4d..d6e9f722 100644
--- a/README.md
+++ b/README.md
@@ -148,8 +148,13 @@ pip install 'pip>=25.1'
 pip install --group build_deps
 
 # install rcs
-pip install -ve .
+pip install -ve . --no-build-isolation
+```
+
+### Via PyPI/pip
 
+```shell
+pip install rcs-core
 ```
 
 ### RCS Asset Cache
@@ -162,9 +167,6 @@ On import, RCS checks whether that path exists. If it does not, it downloads the
 export RCS_PREFIX=/path/to/rcs-assets
 ```
 
-### Via PyPI/pip
-
-*Coming soon...*
 
 ## 🦾 Hardware Extensions
 
diff --git a/extensions/rcs_fr3/cmake/Findrcs.cmake b/extensions/rcs_fr3/cmake/Findrcs.cmake
index 08456ccc..595d53bb 100644
--- a/extensions/rcs_fr3/cmake/Findrcs.cmake
+++ b/extensions/rcs_fr3/cmake/Findrcs.cmake
@@ -2,28 +2,43 @@ if (NOT rcs_FOUND)
     if (NOT Python3_FOUND)
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 1. Please install rcs-core using pip.")
+        endif()
+        return()
+    endif()
+
+    execute_process(
+        COMMAND
+            ${Python3_EXECUTABLE}
+            -c
+            "import importlib.util; import pathlib; spec = importlib.util.find_spec('rcs'); print(pathlib.Path(next(iter(spec.submodule_search_locations))).resolve() if spec and spec.submodule_search_locations else '')"
+        OUTPUT_VARIABLE rcs_package_dir
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+    if (NOT rcs_package_dir)
+        set(rcs_FOUND FALSE)
+        if (rcs_FIND_REQUIRED)
+            message(FATAL_ERROR "Could not find rcs 2. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the include directory exists
-    cmake_path(APPEND Python3_SITELIB rcs include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
+    cmake_path(APPEND rcs_package_dir include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
     if (NOT EXISTS ${rcs_INCLUDE_DIRS})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 3. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the library file exists
-    cmake_path(APPEND Python3_SITELIB rcs OUTPUT_VARIABLE rcs_library_path)
-    file(GLOB rcs_library_path "${rcs_library_path}/librcs.so")
+    set(rcs_library_path "${rcs_package_dir}/librcs.so")
     if (NOT EXISTS ${rcs_library_path})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 4. Please install rcs-core using pip.")
         endif()
         return()
     endif()
@@ -43,4 +58,4 @@ if (NOT rcs_FOUND)
         IMPORTED_LOCATION "${rcs_library_path}"
     )
     set(rcs_FOUND TRUE)
-endif()
\ No newline at end of file
+endif()
diff --git a/extensions/rcs_fr3/pyproject.toml b/extensions/rcs_fr3/pyproject.toml
index d62c3370..f8ff1cde 100644
--- a/extensions/rcs_fr3/pyproject.toml
+++ b/extensions/rcs_fr3/pyproject.toml
@@ -8,6 +8,7 @@ requires = [
   "cmake",
   "ninja",
   "pin==3.7.0",
+  "rcs-core>=0.7.2",
 ]
 build-backend = "scikit_build_core.build"
 
@@ -15,7 +16,7 @@ build-backend = "scikit_build_core.build"
 name = "rcs_fr3"
 version = "0.7.2"
 description = "RCS libfranka integration"
-dependencies = ["rcs>=0.7.2", "frankik"]
+dependencies = ["rcs-core>=0.7.2", "frankik"]
 readme = "README.md"
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
diff --git a/extensions/rcs_panda/cmake/Findrcs.cmake b/extensions/rcs_panda/cmake/Findrcs.cmake
index 08456ccc..595d53bb 100644
--- a/extensions/rcs_panda/cmake/Findrcs.cmake
+++ b/extensions/rcs_panda/cmake/Findrcs.cmake
@@ -2,28 +2,43 @@ if (NOT rcs_FOUND)
     if (NOT Python3_FOUND)
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 1. Please install rcs-core using pip.")
+        endif()
+        return()
+    endif()
+
+    execute_process(
+        COMMAND
+            ${Python3_EXECUTABLE}
+            -c
+            "import importlib.util; import pathlib; spec = importlib.util.find_spec('rcs'); print(pathlib.Path(next(iter(spec.submodule_search_locations))).resolve() if spec and spec.submodule_search_locations else '')"
+        OUTPUT_VARIABLE rcs_package_dir
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+    if (NOT rcs_package_dir)
+        set(rcs_FOUND FALSE)
+        if (rcs_FIND_REQUIRED)
+            message(FATAL_ERROR "Could not find rcs 2. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the include directory exists
-    cmake_path(APPEND Python3_SITELIB rcs include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
+    cmake_path(APPEND rcs_package_dir include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
     if (NOT EXISTS ${rcs_INCLUDE_DIRS})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 3. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the library file exists
-    cmake_path(APPEND Python3_SITELIB rcs OUTPUT_VARIABLE rcs_library_path)
-    file(GLOB rcs_library_path "${rcs_library_path}/librcs.so")
+    set(rcs_library_path "${rcs_package_dir}/librcs.so")
     if (NOT EXISTS ${rcs_library_path})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 4. Please install rcs-core using pip.")
         endif()
         return()
     endif()
@@ -43,4 +58,4 @@ if (NOT rcs_FOUND)
         IMPORTED_LOCATION "${rcs_library_path}"
     )
     set(rcs_FOUND TRUE)
-endif()
\ No newline at end of file
+endif()
diff --git a/extensions/rcs_panda/pyproject.toml b/extensions/rcs_panda/pyproject.toml
index 7194a38b..1d89f057 100644
--- a/extensions/rcs_panda/pyproject.toml
+++ b/extensions/rcs_panda/pyproject.toml
@@ -7,6 +7,7 @@ requires = [
   "pybind11",
   "cmake",
   "ninja",
+  "rcs-core>=0.7.2",
 ]
 build-backend = "scikit_build_core.build"
 
@@ -14,7 +15,7 @@ build-backend = "scikit_build_core.build"
 name = "rcs_panda"
 version = "0.7.2"
 description = "RCS libfranka integration"
-dependencies = ["rcs>=0.7.2"]
+dependencies = ["rcs-core>=0.7.2"]
 readme = "README.md"
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
diff --git a/extensions/rcs_realsense/pyproject.toml b/extensions/rcs_realsense/pyproject.toml
index addfbd8f..07817b81 100644
--- a/extensions/rcs_realsense/pyproject.toml
+++ b/extensions/rcs_realsense/pyproject.toml
@@ -7,7 +7,7 @@ name = "rcs_realsense"
 version = "0.7.2"
 description = "RCS realsense module"
 dependencies = [
-  "rcs>=0.7.2",
+  "rcs-core>=0.7.2",
   "pyrealsense2~=2.55.1",
   "pupil_apriltags",
   "diskcache",
diff --git a/extensions/rcs_robotics_library/cmake/Findrcs.cmake b/extensions/rcs_robotics_library/cmake/Findrcs.cmake
index 08456ccc..595d53bb 100644
--- a/extensions/rcs_robotics_library/cmake/Findrcs.cmake
+++ b/extensions/rcs_robotics_library/cmake/Findrcs.cmake
@@ -2,28 +2,43 @@ if (NOT rcs_FOUND)
     if (NOT Python3_FOUND)
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 1. Please install rcs-core using pip.")
+        endif()
+        return()
+    endif()
+
+    execute_process(
+        COMMAND
+            ${Python3_EXECUTABLE}
+            -c
+            "import importlib.util; import pathlib; spec = importlib.util.find_spec('rcs'); print(pathlib.Path(next(iter(spec.submodule_search_locations))).resolve() if spec and spec.submodule_search_locations else '')"
+        OUTPUT_VARIABLE rcs_package_dir
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+    if (NOT rcs_package_dir)
+        set(rcs_FOUND FALSE)
+        if (rcs_FIND_REQUIRED)
+            message(FATAL_ERROR "Could not find rcs 2. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the include directory exists
-    cmake_path(APPEND Python3_SITELIB rcs include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
+    cmake_path(APPEND rcs_package_dir include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
     if (NOT EXISTS ${rcs_INCLUDE_DIRS})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 3. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the library file exists
-    cmake_path(APPEND Python3_SITELIB rcs OUTPUT_VARIABLE rcs_library_path)
-    file(GLOB rcs_library_path "${rcs_library_path}/librcs.so")
+    set(rcs_library_path "${rcs_package_dir}/librcs.so")
     if (NOT EXISTS ${rcs_library_path})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 4. Please install rcs-core using pip.")
         endif()
         return()
     endif()
@@ -43,4 +58,4 @@ if (NOT rcs_FOUND)
         IMPORTED_LOCATION "${rcs_library_path}"
     )
     set(rcs_FOUND TRUE)
-endif()
\ No newline at end of file
+endif()
diff --git a/extensions/rcs_robotics_library/pyproject.toml b/extensions/rcs_robotics_library/pyproject.toml
index a3a1079a..3be07bbf 100644
--- a/extensions/rcs_robotics_library/pyproject.toml
+++ b/extensions/rcs_robotics_library/pyproject.toml
@@ -7,6 +7,7 @@ requires = [
   "pybind11",
   "cmake",
   "ninja",
+  "rcs-core>=0.7.2",
 ]
 build-backend = "scikit_build_core.build"
 
@@ -15,7 +16,7 @@ name = "rcs_robotics_library"
 version = "0.7.2"
 description = "RCS robotics library integration"
 readme = "README.md"
-dependencies = ["rcs>=0.7.2"]
+dependencies = ["rcs-core>=0.7.2"]
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [
   { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
diff --git a/extensions/rcs_robotiq2f85/pyproject.toml b/extensions/rcs_robotiq2f85/pyproject.toml
index 6168b7bf..144fcae1 100644
--- a/extensions/rcs_robotiq2f85/pyproject.toml
+++ b/extensions/rcs_robotiq2f85/pyproject.toml
@@ -7,7 +7,7 @@ name = "rcs_robotiq2f85"
 version = "0.7.2"
 description="RCS RobotiQ module"
 dependencies = [
-    "rcs>=0.7.2",
+    "rcs-core>=0.7.2",
     "2f85-python-driver @ git+https://github.com/RobotControlStack/2f85-python-driver.git",
 ]
 readme = "README.md"
diff --git a/extensions/rcs_so101/cmake/Findrcs.cmake b/extensions/rcs_so101/cmake/Findrcs.cmake
index 08456ccc..595d53bb 100644
--- a/extensions/rcs_so101/cmake/Findrcs.cmake
+++ b/extensions/rcs_so101/cmake/Findrcs.cmake
@@ -2,28 +2,43 @@ if (NOT rcs_FOUND)
     if (NOT Python3_FOUND)
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 1. Please install rcs-core using pip.")
+        endif()
+        return()
+    endif()
+
+    execute_process(
+        COMMAND
+            ${Python3_EXECUTABLE}
+            -c
+            "import importlib.util; import pathlib; spec = importlib.util.find_spec('rcs'); print(pathlib.Path(next(iter(spec.submodule_search_locations))).resolve() if spec and spec.submodule_search_locations else '')"
+        OUTPUT_VARIABLE rcs_package_dir
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+    if (NOT rcs_package_dir)
+        set(rcs_FOUND FALSE)
+        if (rcs_FIND_REQUIRED)
+            message(FATAL_ERROR "Could not find rcs 2. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the include directory exists
-    cmake_path(APPEND Python3_SITELIB rcs include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
+    cmake_path(APPEND rcs_package_dir include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
     if (NOT EXISTS ${rcs_INCLUDE_DIRS})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 3. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the library file exists
-    cmake_path(APPEND Python3_SITELIB rcs OUTPUT_VARIABLE rcs_library_path)
-    file(GLOB rcs_library_path "${rcs_library_path}/librcs.so")
+    set(rcs_library_path "${rcs_package_dir}/librcs.so")
     if (NOT EXISTS ${rcs_library_path})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs. Please install rcs using pip.")
+            message(FATAL_ERROR "Could not find rcs 4. Please install rcs-core using pip.")
         endif()
         return()
     endif()
@@ -43,4 +58,4 @@ if (NOT rcs_FOUND)
         IMPORTED_LOCATION "${rcs_library_path}"
     )
     set(rcs_FOUND TRUE)
-endif()
\ No newline at end of file
+endif()
diff --git a/extensions/rcs_so101/pyproject.toml b/extensions/rcs_so101/pyproject.toml
index 41fe4559..7ea34566 100644
--- a/extensions/rcs_so101/pyproject.toml
+++ b/extensions/rcs_so101/pyproject.toml
@@ -7,6 +7,7 @@ requires = [
   "pybind11",
   "cmake",
   "ninja",
+  "rcs-core>=0.7.2",
 ]
 build-backend = "scikit_build_core.build"
 
@@ -14,7 +15,7 @@ build-backend = "scikit_build_core.build"
 name = "rcs_so101"
 version = "0.7.2"
 description = "RCS SO101 module"
-dependencies = ["rcs>=0.7.2", "lerobot==0.3.3"]
+dependencies = ["rcs-core>=0.7.2", "lerobot==0.3.3"]
 readme = "README.md"
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
diff --git a/extensions/rcs_tacto/pyproject.toml b/extensions/rcs_tacto/pyproject.toml
index 387f7bf3..fd7381a9 100644
--- a/extensions/rcs_tacto/pyproject.toml
+++ b/extensions/rcs_tacto/pyproject.toml
@@ -7,7 +7,7 @@ name = "rcs_tacto"
 version = "0.7.2"
 description = "RCS integration of tacto"
 dependencies = [
-  "rcs>=0.7.2",
+  "rcs-core>=0.7.2",
   "omegaconf",
   "mujoco-tacto@git+https://github.com/utn-air/mujoco-tacto.git@main",
 ]
diff --git a/extensions/rcs_ur5e/pyproject.toml b/extensions/rcs_ur5e/pyproject.toml
index bedef490..5f3da01d 100644
--- a/extensions/rcs_ur5e/pyproject.toml
+++ b/extensions/rcs_ur5e/pyproject.toml
@@ -6,7 +6,7 @@ build-backend = "setuptools.build_meta"
 name = "rcs_ur5e"
 version = "0.7.2"
 description = "RCS UR5e module"
-dependencies = ["rcs>=0.7.2", "ur_rtde==1.6.1"]
+dependencies = ["rcs-core>=0.7.2", "ur_rtde==1.6.1"]
 readme = "README.md"
 maintainers = [
   { name = "Johannes Hechtl", email = "johannes.hechtl@siemens.com" },
diff --git a/extensions/rcs_xarm7/pyproject.toml b/extensions/rcs_xarm7/pyproject.toml
index ec6902b4..b8897e93 100644
--- a/extensions/rcs_xarm7/pyproject.toml
+++ b/extensions/rcs_xarm7/pyproject.toml
@@ -6,7 +6,7 @@ build-backend = "setuptools.build_meta"
 name = "rcs_xarm7"
 version = "0.7.2"
 description = "RCS xArm7 module"
-dependencies = ["rcs>=0.7.2", "xarm-python-sdk==1.17.0"]
+dependencies = ["rcs-core>=0.7.2", "xarm-python-sdk==1.17.0"]
 readme = "README.md"
 maintainers = [
   { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
diff --git a/pyproject.toml b/pyproject.toml
index e1f05d18..eda6ebd6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -78,6 +78,7 @@ build_deps = [
   "pin==3.7.0",
   "cmeel-urdfdom<5",
   "cmeel-tinyxml2<11",
+  "scikit-build-core>=0.3.3",
 ]
 
 [tool.cibuildwheel]
@@ -187,44 +188,44 @@ version_files = [
   "extensions/rcs_fr3/src/rcs_fr3/_core/__init__.pyi:__version__",
   "extensions/rcs_fr3/pyproject.toml:version",
   # The line below updates the dependency string "rcs>=x.y.z"
-  "extensions/rcs_fr3/pyproject.toml:\"rcs>=(.*)\"",
+  "extensions/rcs_fr3/pyproject.toml:\"rcs-core>=(.*)\"",
 
   # --- Panda Extension ---
   "extensions/rcs_panda/CMakeLists.txt:VERSION",
   "extensions/rcs_panda/src/rcs_panda/_core/__init__.pyi:__version__",
   "extensions/rcs_panda/pyproject.toml:version",
-  "extensions/rcs_panda/pyproject.toml:\"rcs>=(.*)\"",
+  "extensions/rcs_panda/pyproject.toml:\"rcs-core>=(.*)\"",
 
   # --- Robotics Library ---
   "extensions/rcs_robotics_library/CMakeLists.txt:VERSION",
   "extensions/rcs_robotics_library/src/rcs_robotics_library/_core/__init__.pyi:__version__",
   "extensions/rcs_robotics_library/pyproject.toml:version",
-  "extensions/rcs_robotics_library/pyproject.toml:\"rcs>=(.*)\"",
+  "extensions/rcs_robotics_library/pyproject.toml:\"rcs-core>=(.*)\"",
 
   # --- SO101 ---
   "extensions/rcs_so101/CMakeLists.txt:VERSION",
   "extensions/rcs_so101/src/rcs_so101/_core/__init__.pyi:__version__",
   "extensions/rcs_so101/pyproject.toml:version",
-  "extensions/rcs_so101/pyproject.toml:\"rcs>=(.*)\"",
+  "extensions/rcs_so101/pyproject.toml:\"rcs-core>=(.*)\"",
 
   # --- Other Extensions ---
   "extensions/rcs_realsense/pyproject.toml:version",
   "extensions/rcs_realsense/src/rcs_realsense/__init__.py:__version__",
-  "extensions/rcs_realsense/pyproject.toml:\"rcs>=(.*)\"",
+  "extensions/rcs_realsense/pyproject.toml:\"rcs-core>=(.*)\"",
 
   "extensions/rcs_xarm7/pyproject.toml:version",
   "extensions/rcs_xarm7/src/rcs_xarm7/__init__.py:__version__",
-  "extensions/rcs_xarm7/pyproject.toml:\"rcs>=(.*)\"",
+  "extensions/rcs_xarm7/pyproject.toml:\"rcs-core>=(.*)\"",
 
   "extensions/rcs_ur5e/pyproject.toml:version",
   "extensions/rcs_ur5e/src/rcs_ur5e/__init__.py:__version__",
-  "extensions/rcs_ur5e/pyproject.toml:\"rcs>=(.*)\"",
+  "extensions/rcs_ur5e/pyproject.toml:\"rcs-core>=(.*)\"",
 
   "extensions/rcs_tacto/pyproject.toml:version",
   "extensions/rcs_tacto/src/rcs_tacto/__init__.py:__version__",
-  "extensions/rcs_tacto/pyproject.toml:\"rcs>=(.*)\"",
+  "extensions/rcs_tacto/pyproject.toml:\"rcs-core>=(.*)\"",
 
   "extensions/rcs_robotiq2f85/pyproject.toml:version",
   "extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/__init__.py:__version__",
-  "extensions/rcs_robotiq2f85/pyproject.toml:\"rcs>=(.*)\"",
+  "extensions/rcs_robotiq2f85/pyproject.toml:\"rcs-core>=(.*)\"",
 ]
diff --git a/python/rcs/__init__.py b/python/rcs/__init__.py
index 459ebf0f..106ed229 100644
--- a/python/rcs/__init__.py
+++ b/python/rcs/__init__.py
@@ -15,6 +15,7 @@
 from rcs import camera, envs, hand, sim
 
 GITHUB_ASSET_ARCHIVE_URL = "https://github.com/RobotControlStack/robot-control-stack/archive/refs/tags/{tag}.zip"
+REQUIRED_ASSET = Path("assets/scenes/empty_world/scene.xml")
 
 
 def download_assets(
@@ -56,6 +57,9 @@ def get_prefix(
     assets_dirname: str = "assets",
     download_fn: Callable[[str, Path, str, str], None] = download_assets,
 ) -> str:
+    def has_required_assets(prefix: Path) -> bool:
+        return (prefix / REQUIRED_ASSET).is_file()
+
     if env_prefix:
         prefix = Path(env_prefix).expanduser().resolve()
     else:
@@ -65,7 +69,7 @@ def get_prefix(
         prefix = default_prefix.resolve()
 
     assets_dir = prefix / assets_dirname
-    if not assets_dir.is_dir():
+    if not assets_dir.is_dir() or not has_required_assets(prefix):
         prefix.mkdir(parents=True, exist_ok=True)
         print(f"Assets not found at {assets_dir}, downloading them now.")
         download_fn(version, prefix, github_asset_archive_url, assets_dirname)

From a8498fa0e48134a4cdd613b8c516aa20659c5853 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Fri, 26 Jun 2026 13:01:31 -0700
Subject: [PATCH 08/15] ci: python wheel building

---
 .github/workflows/build_wheels.yaml   | 100 ++++++++++++++++++++++++++
 .github/workflows/ci.yaml             |   2 +-
 extensions/rcs_usb_cam/pyproject.toml |   4 +-
 extensions/rcs_zed/pyproject.toml     |   4 +-
 pyproject.toml                        |   8 +++
 python/rcs/_core/__init__.pyi         |   2 +-
 6 files changed, 114 insertions(+), 6 deletions(-)
 create mode 100644 .github/workflows/build_wheels.yaml

diff --git a/.github/workflows/build_wheels.yaml b/.github/workflows/build_wheels.yaml
new file mode 100644
index 00000000..fc272ef1
--- /dev/null
+++ b/.github/workflows/build_wheels.yaml
@@ -0,0 +1,100 @@
+name: Build and Publish Wheels
+
+on:
+  workflow_dispatch:
+  release:
+    types: [published]
+
+jobs:
+  build_core_wheels:
+    name: Build core wheels
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build core wheels
+        uses: pypa/cibuildwheel@v2.22.0
+        env:
+          CIBW_ARCHS_LINUX: x86_64
+          CIBW_BUILD: cp311-* cp312-* cp313-*
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: core-wheels
+          path: ./wheelhouse/*.whl
+
+  build_extension_wheels:
+    name: Build ${{ matrix.extension }} wheels on Python ${{ matrix.python-version }}
+    needs: [build_core_wheels]
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.11", "3.12", "3.13"]
+        extension:
+          - rcs_fr3
+          - rcs_panda
+          - rcs_robotics_library
+          - rcs_so101
+          - rcs_realsense
+          - rcs_robotiq2f85
+          - rcs_tacto
+          - rcs_ur5e
+          - rcs_usb_cam
+          - rcs_xarm7
+          - rcs_zed
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/download-artifact@v4
+        with:
+          name: core-wheels
+          path: dist/core
+
+      - name: Install root Debian dependencies
+        run: |
+          sudo apt-get update
+          sudo xargs -a debian_deps.txt apt-get install -y
+
+      - name: Install extension Debian dependencies
+        run: |
+          deps_file="extensions/${{ matrix.extension }}/debian_deps.txt"
+          if [ -f "${deps_file}" ]; then
+            sudo xargs -a "${deps_file}" apt-get install -y
+          fi
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+          cache: pip
+
+      - name: Build extension wheel
+        env:
+          PIP_FIND_LINKS: ${{ github.workspace }}/dist/core
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install build
+          python -m build --wheel "extensions/${{ matrix.extension }}"
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.extension }}-py${{ matrix.python-version }}
+          path: extensions/${{ matrix.extension }}/dist/*.whl
+
+  upload_pypi:
+    needs: [build_core_wheels, build_extension_wheels]
+    runs-on: ubuntu-latest
+    if: github.event_name == 'release' && github.event.action == 'published'
+    environment: pypi
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: "*wheels*"
+          merge-multiple: true
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@release/v1
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index a439df47..b81d0fbb 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -141,7 +141,7 @@ jobs:
       - name: Install RCS
         run: pip install -ve . --group dev
       - name: Install extension
-        run: pip install -ve extensions/${{ matrix.extension }}
+        run: pip install -ve extensions/${{ matrix.extension }} --no-build-isolation
       - name: Check that stub files are up-to-date
         run: make -C extensions/${{ matrix.extension }} stubgen && git diff --exit-code
       - name: Check clang format
diff --git a/extensions/rcs_usb_cam/pyproject.toml b/extensions/rcs_usb_cam/pyproject.toml
index 4a39396b..fa365498 100644
--- a/extensions/rcs_usb_cam/pyproject.toml
+++ b/extensions/rcs_usb_cam/pyproject.toml
@@ -4,9 +4,9 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rcs_usb_cam"
-version = "0.5.0"
+version = "0.7.2"
 description = "RCS USB Camera module"
-dependencies = ["rcs>=0.5.2", "opencv-python~=4.10.0"]
+dependencies = ["rcs-core>=0.7.2", "opencv-python~=4.10.0"]
 maintainers = [
   { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
   { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
diff --git a/extensions/rcs_zed/pyproject.toml b/extensions/rcs_zed/pyproject.toml
index 51694e69..89d3b851 100644
--- a/extensions/rcs_zed/pyproject.toml
+++ b/extensions/rcs_zed/pyproject.toml
@@ -4,10 +4,10 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rcs_zed"
-version = "0.6.3"
+version = "0.7.2"
 description = "RCS ZED camera module"
 dependencies = [
-  "rcs>=0.6.3",
+  "rcs-core>=0.7.2",
   "opencv-python~=4.10.0",
   "pupil_apriltags",
   "diskcache",
diff --git a/pyproject.toml b/pyproject.toml
index eda6ebd6..5bfb8d16 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -228,4 +228,12 @@ version_files = [
   "extensions/rcs_robotiq2f85/pyproject.toml:version",
   "extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/__init__.py:__version__",
   "extensions/rcs_robotiq2f85/pyproject.toml:\"rcs-core>=(.*)\"",
+
+  "extensions/rcs_usb_cam/pyproject.toml:version",
+  "extensions/rcs_usb_cam/src/rcs_usb_cam/__init__.py:__version__",
+  "extensions/rcs_usb_cam/pyproject.toml:\"rcs-core>=(.*)\"",
+
+  "extensions/rcs_zed/pyproject.toml:version",
+  "extensions/rcs_zed/src/rcs_zed/__init__.py:__version__",
+  "extensions/rcs_zed/pyproject.toml:\"rcs-core>=(.*)\"",
 ]
diff --git a/python/rcs/_core/__init__.pyi b/python/rcs/_core/__init__.pyi
index d1d5add8..5a27ade9 100644
--- a/python/rcs/_core/__init__.pyi
+++ b/python/rcs/_core/__init__.pyi
@@ -16,4 +16,4 @@ from __future__ import annotations
 from . import common, sim
 
 __all__: list[str] = ["common", "sim"]
-__version__: str = "0.8.0"
+__version__: str = "0.7.2"

From c5bcf2786ffcd197385a75794bebcdf14f2fb96a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Fri, 26 Jun 2026 16:04:43 -0700
Subject: [PATCH 09/15] docs: updated install instructions

- updated install instructions
- updated licenses and readmes
---
 README.md                                     |  3 +
 docs/extensions/index.md                      |  2 +
 docs/extensions/overview.md                   | 11 ++-
 docs/extensions/rcs_fr3.md                    | 60 ++++++---------
 docs/extensions/rcs_panda.md                  | 32 +++++++-
 docs/extensions/rcs_realsense.md              | 10 ++-
 docs/extensions/rcs_robotics_library.md       | 10 ++-
 docs/extensions/rcs_robotiq2f85.md            | 11 ++-
 docs/extensions/rcs_so101.md                  |  9 ++-
 docs/extensions/rcs_tacto.md                  |  7 ++
 docs/extensions/rcs_ur5e.md                   | 37 +++++++++
 docs/extensions/rcs_usb_cam.md                |  7 ++
 docs/extensions/rcs_xarm7.md                  | 25 +++++-
 docs/extensions/rcs_zed.md                    | 27 +++++++
 extensions/README.md                          | 10 ++-
 extensions/rcs_fr3/README.md                  | 77 ++++++++++++-------
 extensions/rcs_fr3/pyproject.toml             |  1 +
 extensions/rcs_panda/README.md                | 77 ++++++++++++-------
 extensions/rcs_panda/pyproject.toml           |  1 +
 extensions/rcs_realsense/README.md            | 34 +++++++-
 extensions/rcs_realsense/pyproject.toml       |  2 +
 extensions/rcs_robotics_library/README.md     | 37 ++++++++-
 .../rcs_robotics_library/pyproject.toml       |  1 +
 extensions/rcs_robotiq2f85/README.md          | 38 +++++++--
 extensions/rcs_so101/README.md                | 45 +++++++++--
 extensions/rcs_so101/pyproject.toml           |  1 +
 extensions/rcs_tacto/README.md                | 35 +++++++--
 extensions/rcs_tacto/pyproject.toml           |  1 +
 extensions/rcs_ur5e/README.md                 | 56 ++++++++++++++
 extensions/rcs_ur5e/pyproject.toml            |  1 +
 extensions/rcs_usb_cam/README.md              | 34 +++++++-
 extensions/rcs_usb_cam/pyproject.toml         |  2 +
 extensions/rcs_xarm7/README.md                | 49 ++++++++++++
 extensions/rcs_xarm7/pyproject.toml           |  1 +
 extensions/rcs_zed/README.md                  | 52 +++++++------
 extensions/rcs_zed/pyproject.toml             |  2 +
 36 files changed, 649 insertions(+), 159 deletions(-)
 create mode 100644 docs/extensions/rcs_ur5e.md
 create mode 100644 docs/extensions/rcs_zed.md
 create mode 100644 extensions/rcs_ur5e/README.md
 create mode 100644 extensions/rcs_xarm7/README.md

diff --git a/README.md b/README.md
index d6e9f722..40cc1659 100644
--- a/README.md
+++ b/README.md
@@ -176,6 +176,9 @@ To install a specific robot extension (example for Franka FR3):
 
 ```shell
 sudo apt install $(cat extensions/rcs_fr3/debian_deps.txt)
+pip install rcs-fr3
+
+# or install it locally
 pip install -ve extensions/rcs_fr3
 ```
 
diff --git a/docs/extensions/index.md b/docs/extensions/index.md
index 58c0391e..6a6e19d0 100644
--- a/docs/extensions/index.md
+++ b/docs/extensions/index.md
@@ -7,10 +7,12 @@ overview
 rcs_fr3
 rcs_panda
 rcs_xarm7
+rcs_ur5e
 rcs_so101
 rcs_realsense
 rcs_usb_cam
 rcs_tacto
 rcs_robotics_library
 rcs_robotiq2f85
+rcs_zed
 ```
diff --git a/docs/extensions/overview.md b/docs/extensions/overview.md
index 84334d4e..8494cba0 100644
--- a/docs/extensions/overview.md
+++ b/docs/extensions/overview.md
@@ -11,10 +11,17 @@ An extension is a separate Python package that integrates with RCS. Extensions c
 
 ## Installing Extensions
 
-Extensions are typically installed via `pip`.
+Extensions are typically installed from PyPI.
 
 ```shell
-pip install -ve extensions/rcs_fr3
+pip install rcs-fr3
+```
+
+For local development from a checkout of this repository, first install RCS itself from the repository root and then install the extension via its path:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_fr3 --no-build-isolation
 ```
 
 ## Available Extensions
diff --git a/docs/extensions/rcs_fr3.md b/docs/extensions/rcs_fr3.md
index 4204c06d..865661f1 100644
--- a/docs/extensions/rcs_fr3.md
+++ b/docs/extensions/rcs_fr3.md
@@ -5,9 +5,15 @@ This extension provides support for the Franka Research 3 (FR3) robot in RCS.
 ## Installation
 
 ```shell
-# from root directory
 sudo apt install $(cat extensions/rcs_fr3/debian_deps.txt)
-pip install -ve extensions/rcs_fr3
+pip install rcs-fr3
+```
+
+For local development from this repository:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_fr3 --no-build-isolation
 ```
 
 ### Configuration
@@ -22,41 +28,25 @@ DESK_PASSWORD=...
 ## Usage
 
 ```python
-import rcs_fr3
-from rcs_fr3._core import hw
-from rcs_fr3.desk import FCI, ContextManager, Desk, load_creds_franka_desk
-import rcs
-import numpy as np
-
-ROBOT_IP = "172.16.0.2" # Replace with your robot IP
-
-user, pw = load_creds_franka_desk()
-with FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False):
-    robot_meta = rcs.ROBOTS[rcs.common.RobotType.FR3]
-    ik = rcs.common.Pin(robot_meta.mjcf_model_path, robot_meta.attachment_site)
-    
-    # Configure Robot
-    robot = hw.Franka(ROBOT_IP, ik)
-    robot_cfg = hw.FR3Config()
-    robot_cfg.tcp_offset = rcs.common.Pose(rcs.common.FrankaHandTCPOffset())
-    robot.set_config(robot_cfg)
-
-    # Configure Gripper
-    gripper_cfg_hw = hw.FHConfig()
-    gripper_cfg_hw.epsilon_inner = gripper_cfg_hw.epsilon_outer = 0.1
-    gripper_cfg_hw.speed = 0.1
-    gripper_cfg_hw.force = 30
-    gripper = hw.FrankaHand(ROBOT_IP, gripper_cfg_hw)
-    
-    # Move Robot
-    robot.set_cartesian_position(
-        robot.get_cartesian_position() * rcs.common.Pose(translation=np.array([0.05, 0, 0]))
-    )
-    
-    # Grasp
-    gripper.grasp()
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs_fr3.configs import DefaultFR3HardwareEnv
+
+env_creator = DefaultFR3HardwareEnv()
+env_creator.ip = "192.168.101.1"
+
+cfg = env_creator.config()
+cfg.control_mode = ControlMode.CARTESIAN_TQuat
+cfg.camera_cfgs = None
+cfg.max_relative_movement = 0.5
+cfg.relative_to = RelativeTo.LAST_STEP
+
+env = env_creator.create_env(cfg)
+obs, info = env.reset()
+print(env.get_wrapper_attr("robot").get_cartesian_position())
 ```
 
+For a maintained example, see `examples/fr3/fr3_env_cartesian_control.py`.
+
 ## CLI
 
 The extension defines useful commands to handle the FR3 robot without the need to use the Desk Website.
diff --git a/docs/extensions/rcs_panda.md b/docs/extensions/rcs_panda.md
index 21737704..7458d025 100644
--- a/docs/extensions/rcs_panda.md
+++ b/docs/extensions/rcs_panda.md
@@ -5,11 +5,35 @@ This extension provides support for the Franka Emika Panda robot in RCS.
 ## Installation
 
 ```shell
-# from root directory
-sudo apt install $(cat extensions/rcs_fr3/debian_deps.txt)
-pip install -ve extensions/rcs_panda
+sudo apt install $(cat extensions/rcs_panda/debian_deps.txt)
+pip install rcs-panda
+```
+
+For local development from this repository:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_panda --no-build-isolation
 ```
 
 ## Usage
 
-Please refer to the `rcs_fr3` documentation for similar usage patterns, or check the examples in the repository.
+```python
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs_panda.configs import DefaultPandaHardwareEnv
+
+env_creator = DefaultPandaHardwareEnv()
+env_creator.ip = "192.168.4.100"
+
+cfg = env_creator.config()
+cfg.control_mode = ControlMode.CARTESIAN_TQuat
+cfg.camera_cfgs = None
+cfg.max_relative_movement = 0.2
+cfg.relative_to = RelativeTo.LAST_STEP
+
+env = env_creator.create_env(cfg)
+obs, info = env.reset()
+print(env.get_wrapper_attr("robot").get_cartesian_position())
+```
+
+For a maintained example, see `extensions/rcs_panda/src/rcs_panda/panda_env_cartesian_control.py`.
diff --git a/docs/extensions/rcs_realsense.md b/docs/extensions/rcs_realsense.md
index 578b3373..e9db6cf0 100644
--- a/docs/extensions/rcs_realsense.md
+++ b/docs/extensions/rcs_realsense.md
@@ -5,11 +5,19 @@ This extension provides support for Intel RealSense cameras in RCS.
 ## Installation
 
 ```shell
+pip install rcs-realsense
+```
+
+For local development:
+
+```shell
+pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_realsense
 ```
 
 ## CLI
 
 ```shell
-python -m rcs_realsense --help
+python -m rcs_realsense serials
+python -m rcs_realsense rgb-view
 ```
diff --git a/docs/extensions/rcs_robotics_library.md b/docs/extensions/rcs_robotics_library.md
index 2c6893e8..92dd54dd 100644
--- a/docs/extensions/rcs_robotics_library.md
+++ b/docs/extensions/rcs_robotics_library.md
@@ -5,7 +5,13 @@ This extension provides integration with the [Robotics Library (RL)](https://www
 ## Installation
 
 ```shell
-# from root directory
 sudo apt install $(cat extensions/rcs_robotics_library/debian_deps.txt)
-pip install -ve extensions/rcs_robotics_library
+pip install rcs-robotics-library
+```
+
+For local development from this repository:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_robotics_library --no-build-isolation
 ```
diff --git a/docs/extensions/rcs_robotiq2f85.md b/docs/extensions/rcs_robotiq2f85.md
index de0334e8..3a620b17 100644
--- a/docs/extensions/rcs_robotiq2f85.md
+++ b/docs/extensions/rcs_robotiq2f85.md
@@ -5,6 +5,13 @@ This extension provides support for Robotiq 2F-85 Gripper in RCS.
 ## Installation
 
 ```shell
+pip install rcs-robotiq2f85
+```
+
+For local development:
+
+```shell
+pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_robotiq2f85
 ```
 
@@ -20,9 +27,9 @@ chmod 777 /dev/ttyUSB0
 
 ## Usage
 ```python
-from rcs_robotiq2f85 import RobotiQGripper
+from rcs_robotiq2f85 import RobotiQ2F85GripperConfig, RobotiQGripper
 
-gripper = RobotiQGripper('<YOUR_SERIAL_NUMBER>')
+gripper = RobotiQGripper(RobotiQ2F85GripperConfig(serial_number="<YOUR_SERIAL_NUMBER>"))
 gripper.reset()
 gripper.shut()
 print(gripper.get_normalized_width())
diff --git a/docs/extensions/rcs_so101.md b/docs/extensions/rcs_so101.md
index 48576d05..bd058eb7 100644
--- a/docs/extensions/rcs_so101.md
+++ b/docs/extensions/rcs_so101.md
@@ -5,5 +5,12 @@ This extension provides support for the SO101 robot in RCS.
 ## Installation
 
 ```shell
-pip install -ve extensions/rcs_so101
+pip install rcs-so101
+```
+
+For local development from this repository:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_so101 --no-build-isolation
 ```
diff --git a/docs/extensions/rcs_tacto.md b/docs/extensions/rcs_tacto.md
index a1b94112..104c5244 100644
--- a/docs/extensions/rcs_tacto.md
+++ b/docs/extensions/rcs_tacto.md
@@ -5,5 +5,12 @@ This extension provides integration with the [Tacto](https://github.com/facebook
 ## Installation
 
 ```shell
+pip install rcs-tacto
+```
+
+For local development:
+
+```shell
+pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_tacto
 ```
diff --git a/docs/extensions/rcs_ur5e.md b/docs/extensions/rcs_ur5e.md
new file mode 100644
index 00000000..3070ddc2
--- /dev/null
+++ b/docs/extensions/rcs_ur5e.md
@@ -0,0 +1,37 @@
+# RCS UR5e Extension
+
+This extension provides support for the UR5e robot in RCS.
+
+## Installation
+
+```shell
+pip install rcs-ur5e
+```
+
+For local development:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_ur5e
+```
+
+## Usage
+
+```python
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs_ur5e.configs import DefaultUR5eHardwareEnv
+
+env_creator = DefaultUR5eHardwareEnv()
+env_creator.ip = "192.168.1.15"
+
+cfg = env_creator.config()
+cfg.control_mode = ControlMode.CARTESIAN_TQuat
+cfg.camera_cfgs = None
+cfg.max_relative_movement = 0.2
+cfg.relative_to = RelativeTo.LAST_STEP
+
+env = env_creator.create_env(cfg)
+obs, info = env.reset()
+```
+
+For a maintained example, see `examples/ur5e/ur5e_env_cartesian_control.py`.
diff --git a/docs/extensions/rcs_usb_cam.md b/docs/extensions/rcs_usb_cam.md
index aaa27574..3f8f3dbc 100644
--- a/docs/extensions/rcs_usb_cam.md
+++ b/docs/extensions/rcs_usb_cam.md
@@ -5,5 +5,12 @@ This extension provides support for generic USB webcams in RCS.
 ## Installation
 
 ```shell
+pip install rcs-usb-cam
+```
+
+For local development:
+
+```shell
+pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_usb_cam
 ```
diff --git a/docs/extensions/rcs_xarm7.md b/docs/extensions/rcs_xarm7.md
index 43449254..2dcbe801 100644
--- a/docs/extensions/rcs_xarm7.md
+++ b/docs/extensions/rcs_xarm7.md
@@ -5,9 +5,32 @@ This extension provides support for the xArm7 robot in RCS.
 ## Installation
 
 ```shell
+pip install rcs-xarm7
+```
+
+For local development:
+
+```shell
+pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_xarm7
 ```
 
 ## Usage
 
-Please refer to the examples in the repository for usage details.
+```python
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs_xarm7.configs import DefaultXArm7HardwareEnv
+
+env_creator = DefaultXArm7HardwareEnv()
+env_creator.ip = "192.168.1.245"
+
+cfg = env_creator.config()
+cfg.control_mode = ControlMode.CARTESIAN_TQuat
+cfg.max_relative_movement = 0.5
+cfg.relative_to = RelativeTo.LAST_STEP
+
+env = env_creator.create_env(cfg)
+obs, info = env.reset()
+```
+
+For a maintained example, see `examples/xarm7/xarm7_env_cartesian_control.py`.
diff --git a/docs/extensions/rcs_zed.md b/docs/extensions/rcs_zed.md
new file mode 100644
index 00000000..fcf7a5ee
--- /dev/null
+++ b/docs/extensions/rcs_zed.md
@@ -0,0 +1,27 @@
+# RCS ZED Extension
+
+This extension provides support for Stereolabs ZED cameras in RCS.
+
+## Installation
+
+- You need a PC with an Nvidia GPU and CUDA 12.8 installed.
+- Install the ZED SDK from Stereolabs.
+- Install the Python bindings from `zed-python-api`.
+
+```shell
+pip install rcs-zed
+```
+
+For local development:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_zed
+```
+
+## CLI
+
+```shell
+python -m rcs_zed serials
+python -m rcs_zed rgb-view
+```
diff --git a/extensions/README.md b/extensions/README.md
index 8cdb1ed6..f7021c0c 100644
--- a/extensions/README.md
+++ b/extensions/README.md
@@ -2,6 +2,14 @@
 
 RCS supports various hardware extensions for robots and sensors.
 
+All extensions depend on [`rcs-core`](https://pypi.org/project/rcs-core/). If you install an extension directly from PyPI, pip will pull the published `rcs-core` package automatically.
+
+For local development against this repository, install the main package first from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+```
+
 For detailed documentation on available extensions and how to create your own, please visit:
 
-**[robotcontrolstack.org/extensions](https://robotcontrolstack.org/extensions)**
\ No newline at end of file
+**[robotcontrolstack.org/extensions](https://robotcontrolstack.org/extensions)**
diff --git a/extensions/rcs_fr3/README.md b/extensions/rcs_fr3/README.md
index 27bb68ec..75d32926 100644
--- a/extensions/rcs_fr3/README.md
+++ b/extensions/rcs_fr3/README.md
@@ -1,49 +1,70 @@
-# RCS FR3 Hardware Extension
-Extension to control the fr3 with rcs.
+# RCS FR3 Extension
+
+Support for the Franka Research 3 (FR3) robot in RCS.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_fr3>
 
 ## Installation
+
+Install the Debian dependency first:
+
 ```shell
-# go to this directory
 sudo apt install $(cat debian_deps.txt)
-pip install -ve .
 ```
 
-Add your FR3 credentials to a `.env` file like this:
+Install from PyPI:
+
+```shell
+pip install rcs-fr3
+```
+
+Warning: plain `pip install rcs-fr3` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout for development:
+
+```shell
+pip install -ve . --no-build-isolation
+```
+
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_fr3 --no-build-isolation
+```
+
+Add your FR3 Desk credentials to a `.env` file:
+
 ```env
 DESK_USERNAME=...
 DESK_PASSWORD=...
 ```
 
 ## Usage
+
 ```python
-import rcs_fr3
-from rcs_fr3._core import hw
+from rcs.envs.base import ControlMode, RelativeTo
 from rcs_fr3.configs import DefaultFR3HardwareEnv
-from rcs_fr3.desk import FCI, ContextManager, Desk, load_creds_franka_desk
-user, pw = load_creds_franka_desk()
-with FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False):
-    creator = DefaultFR3HardwareEnv()
-    creator.ip = ROBOT_IP
-    cfg = creator.config()
-    ik = rcs.common.Pin(cfg.robot_cfg.kinematic_model_path, cfg.robot_cfg.attachment_site)
-    robot = hw.Franka(cfg.robot_cfg, ik)
-    gripper = hw.FrankaHand(cfg.gripper_cfg)
-    robot.set_cartesian_position(
-        robot.get_cartesian_position() * rcs.common.Pose(translation=np.array([0.05, 0, 0]))
-    )
-    gripper.grasp()
-```
-For more examples see the [examples](../../examples/) folder.
-You can switch to hardware by setting the following flag:
-```python
-ROBOT_INSTANCE = RobotPlatform.HARDWARE
-# ROBOT_INSTANCE = RobotPlatform.SIMULATION
+
+env_creator = DefaultFR3HardwareEnv()
+env_creator.ip = "192.168.101.1"
+
+cfg = env_creator.config()
+cfg.control_mode = ControlMode.CARTESIAN_TQuat
+cfg.camera_cfgs = None
+cfg.max_relative_movement = 0.5
+cfg.relative_to = RelativeTo.LAST_STEP
+
+env = env_creator.create_env(cfg)
+obs, info = env.reset()
+print(env.get_wrapper_attr("robot").get_cartesian_position())
 ```
 
+For a maintained end-to-end example, see [examples/fr3/fr3_env_cartesian_control.py](../../examples/fr3/fr3_env_cartesian_control.py).
 
 ## CLI
-Defines useful commands to handle the FR3 robot without the need to use the Desk Website.
-You can see the available subcommands as follows:
+
 ```shell
 python -m rcs_fr3 --help
 ```
diff --git a/extensions/rcs_fr3/pyproject.toml b/extensions/rcs_fr3/pyproject.toml
index f8ff1cde..262aa987 100644
--- a/extensions/rcs_fr3/pyproject.toml
+++ b/extensions/rcs_fr3/pyproject.toml
@@ -18,6 +18,7 @@ version = "0.7.2"
 description = "RCS libfranka integration"
 dependencies = ["rcs-core>=0.7.2", "frankik"]
 readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 requires-python = ">=3.11"
diff --git a/extensions/rcs_panda/README.md b/extensions/rcs_panda/README.md
index 125f49ea..eda281a1 100644
--- a/extensions/rcs_panda/README.md
+++ b/extensions/rcs_panda/README.md
@@ -1,49 +1,70 @@
-# RCS Panda Hardware Extension
-Extension to control the panda with rcs.
+# RCS Panda Extension
+
+Support for the Franka Emika Panda robot in RCS.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_panda>
 
 ## Installation
+
+Install the Debian dependency first:
+
 ```shell
-# go to this directory
 sudo apt install $(cat debian_deps.txt)
-pip install -ve .
 ```
 
-Add your Panda credentials to a `.env` file like this:
+Install from PyPI:
+
+```shell
+pip install rcs-panda
+```
+
+Warning: plain `pip install rcs-panda` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout for development:
+
+```shell
+pip install -ve . --no-build-isolation
+```
+
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_panda --no-build-isolation
+```
+
+Add your Panda Desk credentials to a `.env` file:
+
 ```env
 DESK_USERNAME=...
 DESK_PASSWORD=...
 ```
 
 ## Usage
+
 ```python
-import rcs_panda
-from rcs_panda._core import hw
+from rcs.envs.base import ControlMode, RelativeTo
 from rcs_panda.configs import DefaultPandaHardwareEnv
-from rcs_panda.desk import FCI, ContextManager, Desk, load_creds_franka_desk
-user, pw = load_creds_franka_desk()
-with FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False):
-    creator = DefaultPandaHardwareEnv()
-    creator.ip = ROBOT_IP
-    cfg = creator.config()
-    ik = rcs.common.Pin(cfg.robot_cfg.kinematic_model_path, cfg.robot_cfg.attachment_site)
-    robot = hw.Franka(cfg.robot_cfg, ik)
-    gripper = hw.FrankaHand(cfg.gripper_cfg)
-    robot.set_cartesian_position(
-        robot.get_cartesian_position() * rcs.common.Pose(translation=np.array([0.05, 0, 0]))
-    )
-    gripper.grasp()
-```
-For more examples see the [examples](../../examples/) folder.
-You can switch to hardware by setting the following flag:
-```python
-ROBOT_INSTANCE = RobotPlatform.HARDWARE
-# ROBOT_INSTANCE = RobotPlatform.SIMULATION
+
+env_creator = DefaultPandaHardwareEnv()
+env_creator.ip = "192.168.4.100"
+
+cfg = env_creator.config()
+cfg.control_mode = ControlMode.CARTESIAN_TQuat
+cfg.camera_cfgs = None
+cfg.max_relative_movement = 0.2
+cfg.relative_to = RelativeTo.LAST_STEP
+
+env = env_creator.create_env(cfg)
+obs, info = env.reset()
+print(env.get_wrapper_attr("robot").get_cartesian_position())
 ```
 
+For a maintained example, see [src/rcs_panda/panda_env_cartesian_control.py](src/rcs_panda/panda_env_cartesian_control.py).
 
 ## CLI
-Defines useful commands to handle the FR3 robot without the need to use the Desk Website.
-You can see the available subcommands as follows:
+
 ```shell
 python -m rcs_panda --help
 ```
diff --git a/extensions/rcs_panda/pyproject.toml b/extensions/rcs_panda/pyproject.toml
index 1d89f057..75069022 100644
--- a/extensions/rcs_panda/pyproject.toml
+++ b/extensions/rcs_panda/pyproject.toml
@@ -17,6 +17,7 @@ version = "0.7.2"
 description = "RCS libfranka integration"
 dependencies = ["rcs-core>=0.7.2"]
 readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 requires-python = ">=3.11"
diff --git a/extensions/rcs_realsense/README.md b/extensions/rcs_realsense/README.md
index f0ad1dd4..662d58d8 100644
--- a/extensions/rcs_realsense/README.md
+++ b/extensions/rcs_realsense/README.md
@@ -1,10 +1,36 @@
-# RCS Realsense Cameras
-Package installation:
+# RCS RealSense Extension
+
+Support for Intel RealSense cameras in RCS.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_realsense>
+
+## Installation
+
+Install from PyPI:
+
+```shell
+pip install rcs-realsense
+```
+
+Warning: plain `pip install rcs-realsense` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout:
+
 ```shell
 pip install -ve .
 ```
-Usage:
+
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_realsense
+```
+
+## CLI
+
 ```shell
 python -m rcs_realsense serials
 python -m rcs_realsense rgb-view
-```
\ No newline at end of file
+```
diff --git a/extensions/rcs_realsense/pyproject.toml b/extensions/rcs_realsense/pyproject.toml
index 07817b81..7c8b5f33 100644
--- a/extensions/rcs_realsense/pyproject.toml
+++ b/extensions/rcs_realsense/pyproject.toml
@@ -6,6 +6,8 @@ build-backend = "setuptools.build_meta"
 name = "rcs_realsense"
 version = "0.7.2"
 description = "RCS realsense module"
+readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 dependencies = [
   "rcs-core>=0.7.2",
   "pyrealsense2~=2.55.1",
diff --git a/extensions/rcs_robotics_library/README.md b/extensions/rcs_robotics_library/README.md
index 96069664..600e55a6 100644
--- a/extensions/rcs_robotics_library/README.md
+++ b/extensions/rcs_robotics_library/README.md
@@ -1,12 +1,41 @@
-# RCS Extension for the Robotics Library
-Implements access to the C++ library "Robotics Library". 
+# RCS Robotics Library Extension
+
+Integration with the [Robotics Library (RL)](https://www.roboticslibrary.org/) for kinematics and path planning.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_robotics_library>
 
 ## Installation
+
+Install the Debian dependencies first:
+
 ```shell
-# go to this directory
 sudo apt install $(cat debian_deps.txt)
-pip install -ve .
+```
+
+Install from PyPI:
+
+```shell
+pip install rcs-robotics-library
+```
+
+Warning: plain `pip install rcs-robotics-library` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout for development:
+
+```shell
+pip install -ve . --no-build-isolation
+```
+
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_robotics_library --no-build-isolation
 ```
 
 ## Usage
 
+```python
+from rcs_robotics_library import rl
+```
diff --git a/extensions/rcs_robotics_library/pyproject.toml b/extensions/rcs_robotics_library/pyproject.toml
index 3be07bbf..5e88dabb 100644
--- a/extensions/rcs_robotics_library/pyproject.toml
+++ b/extensions/rcs_robotics_library/pyproject.toml
@@ -16,6 +16,7 @@ name = "rcs_robotics_library"
 version = "0.7.2"
 description = "RCS robotics library integration"
 readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 dependencies = ["rcs-core>=0.7.2"]
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [
diff --git a/extensions/rcs_robotiq2f85/README.md b/extensions/rcs_robotiq2f85/README.md
index 3522d8ca..21afb65e 100644
--- a/extensions/rcs_robotiq2f85/README.md
+++ b/extensions/rcs_robotiq2f85/README.md
@@ -1,28 +1,52 @@
-# RCS Robotiq 2F-85 Gripper Hardware Extension
-Extension to use the Robotiq 2F-85 Gripper with rcs.
+# RCS Robotiq 2F-85 Extension
+
+Support for the Robotiq 2F-85 gripper in RCS.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_robotiq2f85>
 
 ## Installation
+
+Install from PyPI:
+
+```shell
+pip install rcs-robotiq2f85
+```
+
+Warning: plain `pip install rcs-robotiq2f85` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout:
+
 ```shell
 pip install -ve .
 ```
 
-Get the serial number of the gripper with this command:
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_robotiq2f85
+```
+
+Get the serial number of the gripper:
+
 ```shell
 udevadm info -a -n /dev/ttyUSB0 | grep serial
 ```
 
-Provide the necessary permission:
+Provide device permissions if needed:
+
 ```shell
 chmod 777 /dev/ttyUSB0
 ```
 
 ## Usage
+
 ```python
-from rcs_robotiq2f85 import RobotiQGripper, RobotiQ2F85GripperConfig
+from rcs_robotiq2f85 import RobotiQ2F85GripperConfig, RobotiQGripper
 
-gripper = RobotiQGripper(RobotiQ2F85GripperConfig(serial_number='<YOUR_SERIAL_NUMBER>'))
+gripper = RobotiQGripper(RobotiQ2F85GripperConfig(serial_number="<YOUR_SERIAL_NUMBER>"))
 gripper.reset()
 gripper.shut()
 print(gripper.get_normalized_width())
 ```
-
diff --git a/extensions/rcs_so101/README.md b/extensions/rcs_so101/README.md
index c0333f8b..aec667dd 100644
--- a/extensions/rcs_so101/README.md
+++ b/extensions/rcs_so101/README.md
@@ -1,13 +1,42 @@
 # RCS SO101 Extension
 
-## Package Dependency Issue Workaround
-The extension for SO101 depends on the `lerobot` package, which depends on `opencv-python-headless`, which uninstalls RCS' own `opencv-python` dependency install. 
-Since the extension doesn't care about the OpenCV-dependent parts of `lerobot`, this package works fine even with the full `opencv-python`, but it needs to be re-installed manually.
-You can do it by the following: 
+Support for the SO101 robot in RCS.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_so101>
+
+## Installation
+
+Install from PyPI:
+
+```shell
+pip install rcs-so101
+```
+
+Warning: plain `pip install rcs-so101` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout for development:
+
+```shell
+pip install -ve . --no-build-isolation
 ```
-pip uninstall opencv-python-headless
-pip uninstall opencv-python
+
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_so101 --no-build-isolation
+```
+
+## OpenCV Workaround
+
+This extension depends on `lerobot`, which can pull in `opencv-python-headless` and replace the `opencv-python` variant expected by RCS.
+
+If that happens, reinstall OpenCV like this:
+
+```shell
+pip uninstall -y opencv-python-headless opencv-python
 pip install opencv-python~=4.10.0.84
 ```
-which will reinstall the correct version of OpenCV to the environment. 
-Unfortunately, there's no easy automated solution for it, so it needs to be done manually each time this extension is installed with `pip install -e .`.
\ No newline at end of file
+
+For current examples, see [examples/so101](../../examples/so101).
diff --git a/extensions/rcs_so101/pyproject.toml b/extensions/rcs_so101/pyproject.toml
index 7ea34566..2a3c45aa 100644
--- a/extensions/rcs_so101/pyproject.toml
+++ b/extensions/rcs_so101/pyproject.toml
@@ -17,6 +17,7 @@ version = "0.7.2"
 description = "RCS SO101 module"
 dependencies = ["rcs-core>=0.7.2", "lerobot==0.3.3"]
 readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
 requires-python = ">=3.11"
diff --git a/extensions/rcs_tacto/README.md b/extensions/rcs_tacto/README.md
index 3951f76e..b48e0414 100644
--- a/extensions/rcs_tacto/README.md
+++ b/extensions/rcs_tacto/README.md
@@ -1,8 +1,33 @@
-# TACTO integration for RCS
-This package can be installed by running `pip install -e extensions/rcs_tacto` from the RCS repository root.
+# RCS Tacto Extension
 
-An example on how to create the environment is found in `{REPO_ROOT}/examples/grasp_digit_demo.py`. 
+Integration with the Tacto tactile sensor simulator.
 
-Particularly, take a look at `FR3TactoSimplePickUpSimEnvCreator` to understand how Tacto is inserted into the RCS stack.
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_tacto>
 
-Note that it is rather tricky to get the correct contact simulation settings to allow for a robust grasping of objects, so when using it, you will need to play around with the simulation settings. We recommend taking a look at the corresponding [MuJoCo documentation](https://mujoco.readthedocs.io/en/stable/computation/index.html) for more tips.
\ No newline at end of file
+## Installation
+
+Install from PyPI:
+
+```shell
+pip install rcs-tacto
+```
+
+Warning: plain `pip install rcs-tacto` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout:
+
+```shell
+pip install -ve .
+```
+
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_tacto
+```
+
+An example environment is available in [examples/fr3/grasp_digit_demo.py](../../examples/fr3/grasp_digit_demo.py).
+
+In particular, `FR3TactoSimplePickUpSimEnvCreator` shows how Tacto is integrated into the RCS stack.
diff --git a/extensions/rcs_tacto/pyproject.toml b/extensions/rcs_tacto/pyproject.toml
index fd7381a9..c31bc919 100644
--- a/extensions/rcs_tacto/pyproject.toml
+++ b/extensions/rcs_tacto/pyproject.toml
@@ -12,6 +12,7 @@ dependencies = [
   "mujoco-tacto@git+https://github.com/utn-air/mujoco-tacto.git@main",
 ]
 readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 maintainers = [
   { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
   { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
diff --git a/extensions/rcs_ur5e/README.md b/extensions/rcs_ur5e/README.md
new file mode 100644
index 00000000..c9babe22
--- /dev/null
+++ b/extensions/rcs_ur5e/README.md
@@ -0,0 +1,56 @@
+# RCS UR5e Extension
+
+Support for the UR5e robot in RCS.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_ur5e>
+
+## Installation
+
+Install from PyPI:
+
+```shell
+pip install rcs-ur5e
+```
+
+Warning: plain `pip install rcs-ur5e` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout:
+
+```shell
+pip install -ve .
+```
+
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_ur5e
+```
+
+## Safety Notes
+
+- This controller does not implement compliant force control.
+- Verify the configured home pose before moving real hardware.
+- Start at low speed and only increase after confirming motion is safe.
+
+## Usage
+
+```python
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs_ur5e.configs import DefaultUR5eHardwareEnv
+
+env_creator = DefaultUR5eHardwareEnv()
+env_creator.ip = "192.168.1.15"
+
+cfg = env_creator.config()
+cfg.control_mode = ControlMode.CARTESIAN_TQuat
+cfg.camera_cfgs = None
+cfg.max_relative_movement = 0.2
+cfg.relative_to = RelativeTo.LAST_STEP
+
+env = env_creator.create_env(cfg)
+obs, info = env.reset()
+```
+
+For a maintained example, see [examples/ur5e/ur5e_env_cartesian_control.py](../../examples/ur5e/ur5e_env_cartesian_control.py).
diff --git a/extensions/rcs_ur5e/pyproject.toml b/extensions/rcs_ur5e/pyproject.toml
index 5f3da01d..efad4cc9 100644
--- a/extensions/rcs_ur5e/pyproject.toml
+++ b/extensions/rcs_ur5e/pyproject.toml
@@ -8,6 +8,7 @@ version = "0.7.2"
 description = "RCS UR5e module"
 dependencies = ["rcs-core>=0.7.2", "ur_rtde==1.6.1"]
 readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 maintainers = [
   { name = "Johannes Hechtl", email = "johannes.hechtl@siemens.com" },
 ]
diff --git a/extensions/rcs_usb_cam/README.md b/extensions/rcs_usb_cam/README.md
index efa94a5b..5ed35c55 100644
--- a/extensions/rcs_usb_cam/README.md
+++ b/extensions/rcs_usb_cam/README.md
@@ -1,9 +1,35 @@
-# RCS USC Cameras
-Package installation:
+# RCS USB Camera Extension
+
+Support for generic USB webcams in RCS.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_usb_cam>
+
+## Installation
+
+Install from PyPI:
+
+```shell
+pip install rcs-usb-cam
+```
+
+Warning: plain `pip install rcs-usb-cam` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout:
+
 ```shell
 pip install -ve .
 ```
-Usage:
+
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_usb_cam
+```
+
+## CLI
+
 ```shell
 python -m rcs_usb_cam rgb-view
-```
\ No newline at end of file
+```
diff --git a/extensions/rcs_usb_cam/pyproject.toml b/extensions/rcs_usb_cam/pyproject.toml
index fa365498..b2426094 100644
--- a/extensions/rcs_usb_cam/pyproject.toml
+++ b/extensions/rcs_usb_cam/pyproject.toml
@@ -6,6 +6,8 @@ build-backend = "setuptools.build_meta"
 name = "rcs_usb_cam"
 version = "0.7.2"
 description = "RCS USB Camera module"
+readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 dependencies = ["rcs-core>=0.7.2", "opencv-python~=4.10.0"]
 maintainers = [
   { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
diff --git a/extensions/rcs_xarm7/README.md b/extensions/rcs_xarm7/README.md
new file mode 100644
index 00000000..4d4e325b
--- /dev/null
+++ b/extensions/rcs_xarm7/README.md
@@ -0,0 +1,49 @@
+# RCS xArm7 Extension
+
+Support for the xArm7 robot in RCS.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_xarm7>
+
+## Installation
+
+Install from PyPI:
+
+```shell
+pip install rcs-xarm7
+```
+
+Warning: plain `pip install rcs-xarm7` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout:
+
+```shell
+pip install -ve .
+```
+
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
+
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_xarm7
+```
+
+## Usage
+
+```python
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs_xarm7.configs import DefaultXArm7HardwareEnv
+
+env_creator = DefaultXArm7HardwareEnv()
+env_creator.ip = "192.168.1.245"
+
+cfg = env_creator.config()
+cfg.control_mode = ControlMode.CARTESIAN_TQuat
+cfg.max_relative_movement = 0.5
+cfg.relative_to = RelativeTo.LAST_STEP
+
+env = env_creator.create_env(cfg)
+obs, info = env.reset()
+```
+
+For a maintained example, see [examples/xarm7/xarm7_env_cartesian_control.py](../../examples/xarm7/xarm7_env_cartesian_control.py).
diff --git a/extensions/rcs_xarm7/pyproject.toml b/extensions/rcs_xarm7/pyproject.toml
index b8897e93..af0fce1d 100644
--- a/extensions/rcs_xarm7/pyproject.toml
+++ b/extensions/rcs_xarm7/pyproject.toml
@@ -8,6 +8,7 @@ version = "0.7.2"
 description = "RCS xArm7 module"
 dependencies = ["rcs-core>=0.7.2", "xarm-python-sdk==1.17.0"]
 readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 maintainers = [
   { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
   { name = "Ken Nakahara", email = "knakahara@lasr.org" },
diff --git a/extensions/rcs_zed/README.md b/extensions/rcs_zed/README.md
index 6352d1e6..495c02c8 100644
--- a/extensions/rcs_zed/README.md
+++ b/extensions/rcs_zed/README.md
@@ -1,43 +1,51 @@
-# Zed Camera Extension
+# RCS ZED Extension
+
+Support for Stereolabs ZED cameras in RCS.
+
+This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/).
+Documentation: <https://robotcontrolstack.org/extensions/rcs_zed>
 
 ## Installation
-- You need a PC with an Nvidia GPU and CUDA 12.8 installed (12.x is probably fine)
-- Download and install the Zed SDK from [here](https://www.stereolabs.com/en-fr/developers/release)
-- Install the python bindings with the manual [here](https://github.com/stereolabs/zed-python-api)
 
-Or just use the docker shipped with RCS. Checkout [this readme](../../docker/README.md) to build and start the docker. The tools shown below are available inside the docer container.
+- You need a PC with an Nvidia GPU and CUDA 12.8 installed.
+- Install the ZED SDK from [Stereolabs](https://www.stereolabs.com/en-fr/developers/release).
+- Install the Python bindings from the [zed-python-api](https://github.com/stereolabs/zed-python-api).
+
+Install from PyPI:
+
+```shell
+pip install rcs-zed
+```
+
+Warning: plain `pip install rcs-zed` will install the published `rcs-core` dependency from PyPI.
+
+Install from a local checkout:
 
-Package installation:
 ```shell
 pip install -ve .
 ```
 
+If you want this extension to use your local RCS checkout instead of the published `rcs-core` package, first install the main package from the repository root:
 
-## Usage
+```shell
+pip install -ve . --no-build-isolation
+pip install -ve extensions/rcs_zed
+```
 
+## CLI
 
 ```shell
 python -m rcs_zed serials
 python -m rcs_zed rgb-view
 ```
 
-### Permissions
+## Permissions
+
 ```shell
-# if in docker, run this on your host system
 sudo usermod -a -G video,plugdev $USER
 ```
 
-### Tools to check your Zed
-Most relevant is the `ZED_Diagnostic`, use this to check what exactly is not working.
-
-| Command / Tool | What it does | When to use it |
-| :--- | :--- | :--- |
-| **`ZED_Explorer`** | Live video feed & recording | To check image quality, adjust exposure, and record **.SVO** files. |
-| **`ZED_Depth_Viewer`** | 3D Depth & Point Cloud | To see the "Neural" depth in action and check 3D accuracy. |
-| **`ZED_Diagnostic`** | Hardware/Software Health | Use this first if something feels "broken." |
-| **`ZED_Sensor_Viewer`** | IMU & Magnetometer | To see real-time data from the accelerometer and gyroscope. |
-| **`ZED_Studio`** | Multi-Camera Management | If you have more than one ZED connected at once. |
-| **`ZEDfu`** | Spatial Mapping | To "scan" a room and create a 3D mesh in real-time. |
+## Connection Diagnostics
 
-### Issues with the connection
-- see [this article](https://support.stereolabs.com/hc/en-us/articles/207635225-How-to-fix-USB-3-0-bandwidth-and-connection-issues)
\ No newline at end of file
+- Use `ZED_Diagnostic` first if something appears broken.
+- See the Stereolabs USB troubleshooting guide: <https://support.stereolabs.com/hc/en-us/articles/207635225-How-to-fix-USB-3-0-bandwidth-and-connection-issues>
diff --git a/extensions/rcs_zed/pyproject.toml b/extensions/rcs_zed/pyproject.toml
index 89d3b851..c6bc05c8 100644
--- a/extensions/rcs_zed/pyproject.toml
+++ b/extensions/rcs_zed/pyproject.toml
@@ -6,6 +6,8 @@ build-backend = "setuptools.build_meta"
 name = "rcs_zed"
 version = "0.7.2"
 description = "RCS ZED camera module"
+readme = "README.md"
+license = { text = "AGPL-3.0-or-later" }
 dependencies = [
   "rcs-core>=0.7.2",
   "opencv-python~=4.10.0",

From 4a1510a0eb0bcfacaf0af885eadd9f799bf227fd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Fri, 26 Jun 2026 16:44:26 -0700
Subject: [PATCH 10/15] docs: added libfranka version documentation

---
 README.md                             | 17 ++++++++---------
 docs/extensions/index.md              |  1 +
 docs/extensions/libfranka_versions.md | 18 ++++++++++++++++++
 extensions/rcs_fr3/README.md          |  2 ++
 extensions/rcs_fr3/pyproject.toml     |  3 +++
 extensions/rcs_panda/README.md        |  2 ++
 extensions/rcs_panda/pyproject.toml   |  3 +++
 7 files changed, 37 insertions(+), 9 deletions(-)
 create mode 100644 docs/extensions/libfranka_versions.md

diff --git a/README.md b/README.md
index 40cc1659..3d8c35f2 100644
--- a/README.md
+++ b/README.md
@@ -122,6 +122,13 @@ if __name__ == "__main__":
 > **Note:** This and other examples can be found in the [`examples/`]() folder.
 
 ## 🛠️ Installation
+* *For Python >3.11: The `rcs_realsense` extension won't work due to the `pyrealsense2` version RCS utilizes.*
+* *For Python >3.12: The `ompl` python module is currently not available on PyPI. If OMPL is not used, it is safe to remove this dependency in `pyproject.toml`.*
+### Via PyPI/pip
+
+```shell
+pip install rcs-core
+```
 
 ### From Source
 
@@ -129,11 +136,7 @@ Make sure that common build tools (i.e., `build-essential`) and a C++ compiler l
 
 *RCS works best in Python 3.11, and all extensions have been tested to work in 3.11.*
 
-* *For Python >3.11: The `rcs_realsense` extension won't work due to the `pyrealsense2` version RCS utilizes.*
-* *For Python >3.12: The `ompl` python module is currently not available on PyPI. If OMPL is not used, it is safe to remove this dependency in `pyproject.toml`.*
-
 ```shell
-
 # clone repository
 git clone https://github.com/RobotControlStack/robot-control-stack.git
 cd robot-control-stack
@@ -151,11 +154,6 @@ pip install --group build_deps
 pip install -ve . --no-build-isolation
 ```
 
-### Via PyPI/pip
-
-```shell
-pip install rcs-core
-```
 
 ### RCS Asset Cache
 
@@ -198,6 +196,7 @@ For full documentation, including advanced installation, modular usage, and API
 Useful quick-reference pages:
 - **[RCS Conventions](https://robotcontrolstack.org/user_guide/conventions)** for quaternion order, frames, Euler angles, and gripper semantics
 - **[Sim Scene Configuration](https://robotcontrolstack.org/user_guide/scene_configuration)** for `SimEnvCreatorConfig`, scene frames, and example setup patterns
+- **[libfranka Version Info](https://robotcontrolstack.org/extensions/libfranka_versions)** for the currently pinned `rcs_fr3` and `rcs_panda` `libfranka` versions and local-install guidance
 
 ## 🤝 Contribution
 
diff --git a/docs/extensions/index.md b/docs/extensions/index.md
index 6a6e19d0..67ce5944 100644
--- a/docs/extensions/index.md
+++ b/docs/extensions/index.md
@@ -4,6 +4,7 @@
 :maxdepth: 2
 
 overview
+libfranka_versions
 rcs_fr3
 rcs_panda
 rcs_xarm7
diff --git a/docs/extensions/libfranka_versions.md b/docs/extensions/libfranka_versions.md
new file mode 100644
index 00000000..9a465221
--- /dev/null
+++ b/docs/extensions/libfranka_versions.md
@@ -0,0 +1,18 @@
+# libfranka Versions
+
+This page documents the `libfranka` version currently pinned by the RCS Franka extensions in their CMake configuration.
+
+## `rcs_fr3`
+
+- Current `libfranka` version: `0.20.3`
+- CMake source: [extensions/rcs_fr3/CMakeLists.txt](https://github.com/RobotControlStack/robot-control-stack/blob/main/extensions/rcs_fr3/CMakeLists.txt)
+- Note: this information reflects the current CMake pin and may become outdated if the version is bumped in a future change.
+
+When installing `rcs-fr3` from PyPI, this `libfranka` version is fixed by the published package. If you need to change the `libfranka` version, use a local source install and update the CMake configuration there.
+
+## `rcs_panda`
+
+- Current `libfranka` version: `0.9.2`
+- CMake source: [extensions/rcs_panda/CMakeLists.txt](https://github.com/RobotControlStack/robot-control-stack/blob/main/extensions/rcs_panda/CMakeLists.txt)
+
+When installing `rcs-panda` from PyPI, this `libfranka` version is fixed by the published package. If you need to change the `libfranka` version, use a local source install and update the CMake configuration there.
diff --git a/extensions/rcs_fr3/README.md b/extensions/rcs_fr3/README.md
index 75d32926..2a4eb2ba 100644
--- a/extensions/rcs_fr3/README.md
+++ b/extensions/rcs_fr3/README.md
@@ -34,6 +34,8 @@ pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_fr3 --no-build-isolation
 ```
 
+For `libfranka` version details, see <https://robotcontrolstack.org/extensions/libfranka_versions>.
+
 Add your FR3 Desk credentials to a `.env` file:
 
 ```env
diff --git a/extensions/rcs_fr3/pyproject.toml b/extensions/rcs_fr3/pyproject.toml
index 262aa987..2b71c80f 100644
--- a/extensions/rcs_fr3/pyproject.toml
+++ b/extensions/rcs_fr3/pyproject.toml
@@ -32,6 +32,9 @@ build-dir = "build"
 wheel.packages = ["src/rcs_fr3"]
 install.components = ["python_package"]
 
+[tool.cibuildwheel]
+skip = ["cp314*", "*-musllinux*"]
+
 [tool.black]
 line-length = 120
 target-version = ["py310"]
diff --git a/extensions/rcs_panda/README.md b/extensions/rcs_panda/README.md
index eda281a1..b1581269 100644
--- a/extensions/rcs_panda/README.md
+++ b/extensions/rcs_panda/README.md
@@ -34,6 +34,8 @@ pip install -ve . --no-build-isolation
 pip install -ve extensions/rcs_panda --no-build-isolation
 ```
 
+For `libfranka` version details, see <https://robotcontrolstack.org/extensions/libfranka_versions>.
+
 Add your Panda Desk credentials to a `.env` file:
 
 ```env
diff --git a/extensions/rcs_panda/pyproject.toml b/extensions/rcs_panda/pyproject.toml
index 75069022..6fee796e 100644
--- a/extensions/rcs_panda/pyproject.toml
+++ b/extensions/rcs_panda/pyproject.toml
@@ -31,6 +31,9 @@ build-dir = "build"
 wheel.packages = ["src/rcs_panda"]
 install.components = ["python_package"]
 
+[tool.cibuildwheel]
+skip = ["cp314*", "*-musllinux*"]
+
 [tool.black]
 line-length = 120
 target-version = ["py310"]

From d618fed85ba6359b3ad72fca0c26c49433bdbfb1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Fri, 26 Jun 2026 17:01:55 -0700
Subject: [PATCH 11/15] build: auditwheel repair and readded libpoco

---
 extensions/rcs_fr3/CMakeLists.txt              | 18 +++++++++++++++++-
 extensions/rcs_fr3/pyproject.toml              |  1 +
 extensions/rcs_panda/CMakeLists.txt            | 18 +++++++++++++++++-
 extensions/rcs_panda/pyproject.toml            |  1 +
 extensions/rcs_robotics_library/pyproject.toml |  4 ++++
 extensions/rcs_so101/pyproject.toml            |  4 ++++
 6 files changed, 44 insertions(+), 2 deletions(-)

diff --git a/extensions/rcs_fr3/CMakeLists.txt b/extensions/rcs_fr3/CMakeLists.txt
index 46689427..c64a92eb 100644
--- a/extensions/rcs_fr3/CMakeLists.txt
+++ b/extensions/rcs_fr3/CMakeLists.txt
@@ -88,7 +88,23 @@ FetchContent_Declare(
     OVERRIDE_FIND_PACKAGE
 )
 
-FetchContent_MakeAvailable(pybind11 Eigen3 tinyxml2 console_bridge)
+# --- POCO C++ Libraries ---
+set(ENABLE_TESTS OFF CACHE BOOL "Disable POCO tests" FORCE)
+set(ENABLE_DATA_MYSQL OFF CACHE BOOL "Disable POCO MySQL" FORCE)
+set(ENABLE_DATA_ODBC OFF CACHE BOOL "Disable POCO ODBC" FORCE)
+set(ENABLE_PAGECOMPILER OFF CACHE BOOL "Disable POCO PageCompiler" FORCE)
+set(ENABLE_PAGECOMPILER_FILE2PAGE OFF CACHE BOOL "" FORCE)
+
+FetchContent_Declare(
+    Poco
+    GIT_REPOSITORY https://github.com/pocoproject/poco.git
+    GIT_TAG        poco-1.13.3-release
+    GIT_PROGRESS   TRUE
+    EXCLUDE_FROM_ALL
+    OVERRIDE_FIND_PACKAGE
+)
+
+FetchContent_MakeAvailable(pybind11 Eigen3 tinyxml2 console_bridge Poco)
 if(NOT TARGET Eigen3::Eigen3)
     add_library(Eigen3::Eigen3 ALIAS eigen)
 endif()
diff --git a/extensions/rcs_fr3/pyproject.toml b/extensions/rcs_fr3/pyproject.toml
index 2b71c80f..b2b0a262 100644
--- a/extensions/rcs_fr3/pyproject.toml
+++ b/extensions/rcs_fr3/pyproject.toml
@@ -34,6 +34,7 @@ install.components = ["python_package"]
 
 [tool.cibuildwheel]
 skip = ["cp314*", "*-musllinux*"]
+repair-wheel-command = "auditwheel repair -w {dest_dir} {wheel} --exclude librcs.so --exclude libpinocchio_default.so.3.7.0 --exclude libpinocchio_parsers.so.3.7.0"
 
 [tool.black]
 line-length = 120
diff --git a/extensions/rcs_panda/CMakeLists.txt b/extensions/rcs_panda/CMakeLists.txt
index 01a83198..ac50970b 100644
--- a/extensions/rcs_panda/CMakeLists.txt
+++ b/extensions/rcs_panda/CMakeLists.txt
@@ -75,7 +75,23 @@ FetchContent_Declare(
     OVERRIDE_FIND_PACKAGE
 )
 
-FetchContent_MakeAvailable(pybind11 Eigen3 console_bridge)
+# --- POCO C++ Libraries ---
+set(ENABLE_TESTS OFF CACHE BOOL "Disable POCO tests" FORCE)
+set(ENABLE_DATA_MYSQL OFF CACHE BOOL "Disable POCO MySQL" FORCE)
+set(ENABLE_DATA_ODBC OFF CACHE BOOL "Disable POCO ODBC" FORCE)
+set(ENABLE_PAGECOMPILER OFF CACHE BOOL "Disable POCO PageCompiler" FORCE)
+set(ENABLE_PAGECOMPILER_FILE2PAGE OFF CACHE BOOL "" FORCE)
+
+FetchContent_Declare(
+    Poco
+    GIT_REPOSITORY https://github.com/pocoproject/poco.git
+    GIT_TAG        poco-1.13.3-release
+    GIT_PROGRESS   TRUE
+    EXCLUDE_FROM_ALL
+    OVERRIDE_FIND_PACKAGE
+)
+
+FetchContent_MakeAvailable(pybind11 Eigen3 console_bridge Poco)
 if(NOT TARGET Eigen3::Eigen3)
     add_library(Eigen3::Eigen3 ALIAS eigen)
 endif()
diff --git a/extensions/rcs_panda/pyproject.toml b/extensions/rcs_panda/pyproject.toml
index 6fee796e..2eb3d4f8 100644
--- a/extensions/rcs_panda/pyproject.toml
+++ b/extensions/rcs_panda/pyproject.toml
@@ -33,6 +33,7 @@ install.components = ["python_package"]
 
 [tool.cibuildwheel]
 skip = ["cp314*", "*-musllinux*"]
+repair-wheel-command = "auditwheel repair -w {dest_dir} {wheel} --exclude librcs.so --exclude libpinocchio_default.so.3.7.0 --exclude libpinocchio_parsers.so.3.7.0"
 
 [tool.black]
 line-length = 120
diff --git a/extensions/rcs_robotics_library/pyproject.toml b/extensions/rcs_robotics_library/pyproject.toml
index 5e88dabb..1a9bf297 100644
--- a/extensions/rcs_robotics_library/pyproject.toml
+++ b/extensions/rcs_robotics_library/pyproject.toml
@@ -34,6 +34,10 @@ build-dir = "build"
 wheel.packages = ["src/rcs_robotics_library"]
 install.components = ["python_package"]
 
+[tool.cibuildwheel]
+skip = ["cp314*", "*-musllinux*"]
+repair-wheel-command = "auditwheel repair -w {dest_dir} {wheel} --exclude librcs.so --exclude libpinocchio_default.so.3.7.0 --exclude libpinocchio_parsers.so.3.7.0"
+
 [tool.black]
 line-length = 120
 target-version = ["py310"]
diff --git a/extensions/rcs_so101/pyproject.toml b/extensions/rcs_so101/pyproject.toml
index 2a3c45aa..88c3cd20 100644
--- a/extensions/rcs_so101/pyproject.toml
+++ b/extensions/rcs_so101/pyproject.toml
@@ -30,6 +30,10 @@ build-dir = "build"
 wheel.packages = ["src/rcs_so101"]
 install.components = ["python_package"]
 
+[tool.cibuildwheel]
+skip = ["cp314*", "*-musllinux*"]
+repair-wheel-command = "auditwheel repair -w {dest_dir} {wheel} --exclude librcs.so --exclude libpinocchio_default.so.3.7.0 --exclude libpinocchio_parsers.so.3.7.0"
+
 [tool.black]
 line-length = 120
 target-version = ["py310"]

From 479832270e61bbc55ba3b360233ade7212f894bc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Fri, 26 Jun 2026 17:58:17 -0700
Subject: [PATCH 12/15] build(panda): fr3 copy over

---
 extensions/rcs_panda/CMakeLists.txt           | 12 ++-
 .../scripts/materialize_fr3_sources.py        | 86 +++++++++++++++++++
 2 files changed, 97 insertions(+), 1 deletion(-)
 create mode 100644 extensions/rcs_panda/scripts/materialize_fr3_sources.py

diff --git a/extensions/rcs_panda/CMakeLists.txt b/extensions/rcs_panda/CMakeLists.txt
index ac50970b..0f7c061f 100644
--- a/extensions/rcs_panda/CMakeLists.txt
+++ b/extensions/rcs_panda/CMakeLists.txt
@@ -44,6 +44,16 @@ find_package(Python3 COMPONENTS Interpreter Development.Module REQUIRED)
 find_package(pinocchio REQUIRED)
 find_package(rcs REQUIRED)
 
+set(RCS_PANDA_MATERIALIZED_SRC_DIR "${CMAKE_CURRENT_BINARY_DIR}/materialized_src_fr3")
+execute_process(
+    COMMAND
+        ${Python3_EXECUTABLE}
+        "${CMAKE_CURRENT_SOURCE_DIR}/scripts/materialize_fr3_sources.py"
+        --project-root "${CMAKE_CURRENT_SOURCE_DIR}"
+        --output-dir "${RCS_PANDA_MATERIALIZED_SRC_DIR}"
+    COMMAND_ERROR_IS_FATAL ANY
+)
+
 FetchContent_Declare(
     libfranka
     GIT_REPOSITORY https://github.com/frankaemika/libfranka.git
@@ -101,4 +111,4 @@ endif()
 FetchContent_MakeAvailable(libfranka)
 set_target_properties(franka PROPERTIES CXX_STANDARD 17)
 
-add_subdirectory(src_fr3)
+add_subdirectory("${RCS_PANDA_MATERIALIZED_SRC_DIR}" src_fr3)
diff --git a/extensions/rcs_panda/scripts/materialize_fr3_sources.py b/extensions/rcs_panda/scripts/materialize_fr3_sources.py
new file mode 100644
index 00000000..b575134b
--- /dev/null
+++ b/extensions/rcs_panda/scripts/materialize_fr3_sources.py
@@ -0,0 +1,86 @@
+from __future__ import annotations
+
+import argparse
+import os
+import shutil
+import subprocess
+import tempfile
+from pathlib import Path
+
+try:
+    import tomllib
+except ModuleNotFoundError:  # pragma: no cover
+    import tomli as tomllib  # type: ignore
+
+
+REPO_URL = "https://github.com/RobotControlStack/robot-control-stack.git"
+
+
+def load_version(project_root: Path) -> str:
+    data = tomllib.loads((project_root / "pyproject.toml").read_text())
+    return data["project"]["version"]
+
+
+def find_shared_source(project_root: Path) -> Path:
+    env_override = os.environ.get("RCS_FR3_SOURCE_DIR")
+    if env_override:
+        candidate = Path(env_override).resolve()
+        if (candidate / "CMakeLists.txt").is_file():
+            return candidate
+        msg = f"RCS_FR3_SOURCE_DIR does not point to a valid FR3 source tree: {candidate}"
+        raise FileNotFoundError(msg)
+
+    sibling = (project_root.parent / "rcs_fr3" / "src").resolve()
+    if (sibling / "CMakeLists.txt").is_file():
+        return sibling
+
+    version = load_version(project_root)
+    tmpdir = Path(tempfile.mkdtemp(prefix="rcs_panda_fr3_"))
+    try:
+        subprocess.run(
+            ["git", "clone", "--depth", "1", "--branch", f"v{version}", REPO_URL, str(tmpdir)],
+            check=True,
+        )
+    except subprocess.CalledProcessError:
+        shutil.rmtree(tmpdir, ignore_errors=True)
+        tmpdir = Path(tempfile.mkdtemp(prefix="rcs_panda_fr3_"))
+        subprocess.run(
+            ["git", "clone", "--depth", "1", REPO_URL, str(tmpdir)],
+            check=True,
+        )
+    cloned = tmpdir / "extensions" / "rcs_fr3" / "src"
+    if not (cloned / "CMakeLists.txt").is_file():
+        msg = f"Could not locate FR3 shared sources in cloned repo at {cloned}"
+        raise FileNotFoundError(msg)
+    return cloned
+
+
+def copy_file(src: Path, dest: Path) -> None:
+    dest.parent.mkdir(parents=True, exist_ok=True)
+    shutil.copy2(src, dest)
+
+
+def materialize(project_root: Path, output_dir: Path) -> None:
+    shared_src = find_shared_source(project_root)
+    panda_src = project_root / "src_fr3"
+
+    if output_dir.exists():
+        shutil.rmtree(output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    copy_file(shared_src / "CMakeLists.txt", output_dir / "CMakeLists.txt")
+    shutil.copytree(shared_src / "hw", output_dir / "hw")
+    copy_file(panda_src / "pybind" / "CMakeLists.txt", output_dir / "pybind" / "CMakeLists.txt")
+    copy_file(shared_src / "pybind" / "rcs.cpp", output_dir / "pybind" / "rcs.cpp")
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--project-root", type=Path, required=True)
+    parser.add_argument("--output-dir", type=Path, required=True)
+    args = parser.parse_args()
+    materialize(args.project_root.resolve(), args.output_dir.resolve())
+
+
+if __name__ == "__main__":
+    main()

From c62b3c6a88e2723d8234f0a46c6e7897427dffdc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Fri, 26 Jun 2026 21:53:19 -0700
Subject: [PATCH 13/15] build: fix rcs find path

---
 extensions/rcs_fr3/cmake/Findrcs.cmake        | 27 +++++--------------
 extensions/rcs_panda/cmake/Findrcs.cmake      | 27 +++++--------------
 .../rcs_robotics_library/cmake/Findrcs.cmake  | 27 +++++--------------
 extensions/rcs_so101/cmake/Findrcs.cmake      | 27 +++++--------------
 4 files changed, 24 insertions(+), 84 deletions(-)

diff --git a/extensions/rcs_fr3/cmake/Findrcs.cmake b/extensions/rcs_fr3/cmake/Findrcs.cmake
index 595d53bb..bd89b83e 100644
--- a/extensions/rcs_fr3/cmake/Findrcs.cmake
+++ b/extensions/rcs_fr3/cmake/Findrcs.cmake
@@ -2,43 +2,28 @@ if (NOT rcs_FOUND)
     if (NOT Python3_FOUND)
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 1. Please install rcs-core using pip.")
-        endif()
-        return()
-    endif()
-
-    execute_process(
-        COMMAND
-            ${Python3_EXECUTABLE}
-            -c
-            "import importlib.util; import pathlib; spec = importlib.util.find_spec('rcs'); print(pathlib.Path(next(iter(spec.submodule_search_locations))).resolve() if spec and spec.submodule_search_locations else '')"
-        OUTPUT_VARIABLE rcs_package_dir
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-    if (NOT rcs_package_dir)
-        set(rcs_FOUND FALSE)
-        if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 2. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the include directory exists
-    cmake_path(APPEND rcs_package_dir include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
+    cmake_path(APPEND Python3_SITELIB rcs include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
     if (NOT EXISTS ${rcs_INCLUDE_DIRS})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 3. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the library file exists
-    set(rcs_library_path "${rcs_package_dir}/librcs.so")
+    cmake_path(APPEND Python3_SITELIB rcs OUTPUT_VARIABLE rcs_library_path)
+    file(GLOB rcs_library_path "${rcs_library_path}/librcs.so")
     if (NOT EXISTS ${rcs_library_path})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 4. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
diff --git a/extensions/rcs_panda/cmake/Findrcs.cmake b/extensions/rcs_panda/cmake/Findrcs.cmake
index 595d53bb..bd89b83e 100644
--- a/extensions/rcs_panda/cmake/Findrcs.cmake
+++ b/extensions/rcs_panda/cmake/Findrcs.cmake
@@ -2,43 +2,28 @@ if (NOT rcs_FOUND)
     if (NOT Python3_FOUND)
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 1. Please install rcs-core using pip.")
-        endif()
-        return()
-    endif()
-
-    execute_process(
-        COMMAND
-            ${Python3_EXECUTABLE}
-            -c
-            "import importlib.util; import pathlib; spec = importlib.util.find_spec('rcs'); print(pathlib.Path(next(iter(spec.submodule_search_locations))).resolve() if spec and spec.submodule_search_locations else '')"
-        OUTPUT_VARIABLE rcs_package_dir
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-    if (NOT rcs_package_dir)
-        set(rcs_FOUND FALSE)
-        if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 2. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the include directory exists
-    cmake_path(APPEND rcs_package_dir include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
+    cmake_path(APPEND Python3_SITELIB rcs include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
     if (NOT EXISTS ${rcs_INCLUDE_DIRS})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 3. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the library file exists
-    set(rcs_library_path "${rcs_package_dir}/librcs.so")
+    cmake_path(APPEND Python3_SITELIB rcs OUTPUT_VARIABLE rcs_library_path)
+    file(GLOB rcs_library_path "${rcs_library_path}/librcs.so")
     if (NOT EXISTS ${rcs_library_path})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 4. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
diff --git a/extensions/rcs_robotics_library/cmake/Findrcs.cmake b/extensions/rcs_robotics_library/cmake/Findrcs.cmake
index 595d53bb..bd89b83e 100644
--- a/extensions/rcs_robotics_library/cmake/Findrcs.cmake
+++ b/extensions/rcs_robotics_library/cmake/Findrcs.cmake
@@ -2,43 +2,28 @@ if (NOT rcs_FOUND)
     if (NOT Python3_FOUND)
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 1. Please install rcs-core using pip.")
-        endif()
-        return()
-    endif()
-
-    execute_process(
-        COMMAND
-            ${Python3_EXECUTABLE}
-            -c
-            "import importlib.util; import pathlib; spec = importlib.util.find_spec('rcs'); print(pathlib.Path(next(iter(spec.submodule_search_locations))).resolve() if spec and spec.submodule_search_locations else '')"
-        OUTPUT_VARIABLE rcs_package_dir
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-    if (NOT rcs_package_dir)
-        set(rcs_FOUND FALSE)
-        if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 2. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the include directory exists
-    cmake_path(APPEND rcs_package_dir include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
+    cmake_path(APPEND Python3_SITELIB rcs include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
     if (NOT EXISTS ${rcs_INCLUDE_DIRS})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 3. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the library file exists
-    set(rcs_library_path "${rcs_package_dir}/librcs.so")
+    cmake_path(APPEND Python3_SITELIB rcs OUTPUT_VARIABLE rcs_library_path)
+    file(GLOB rcs_library_path "${rcs_library_path}/librcs.so")
     if (NOT EXISTS ${rcs_library_path})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 4. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
diff --git a/extensions/rcs_so101/cmake/Findrcs.cmake b/extensions/rcs_so101/cmake/Findrcs.cmake
index 595d53bb..bd89b83e 100644
--- a/extensions/rcs_so101/cmake/Findrcs.cmake
+++ b/extensions/rcs_so101/cmake/Findrcs.cmake
@@ -2,43 +2,28 @@ if (NOT rcs_FOUND)
     if (NOT Python3_FOUND)
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 1. Please install rcs-core using pip.")
-        endif()
-        return()
-    endif()
-
-    execute_process(
-        COMMAND
-            ${Python3_EXECUTABLE}
-            -c
-            "import importlib.util; import pathlib; spec = importlib.util.find_spec('rcs'); print(pathlib.Path(next(iter(spec.submodule_search_locations))).resolve() if spec and spec.submodule_search_locations else '')"
-        OUTPUT_VARIABLE rcs_package_dir
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-    if (NOT rcs_package_dir)
-        set(rcs_FOUND FALSE)
-        if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 2. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the include directory exists
-    cmake_path(APPEND rcs_package_dir include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
+    cmake_path(APPEND Python3_SITELIB rcs include OUTPUT_VARIABLE rcs_INCLUDE_DIRS)
     if (NOT EXISTS ${rcs_INCLUDE_DIRS})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 3. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()
 
     # Check if the library file exists
-    set(rcs_library_path "${rcs_package_dir}/librcs.so")
+    cmake_path(APPEND Python3_SITELIB rcs OUTPUT_VARIABLE rcs_library_path)
+    file(GLOB rcs_library_path "${rcs_library_path}/librcs.so")
     if (NOT EXISTS ${rcs_library_path})
         set(rcs_FOUND FALSE)
         if (rcs_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find rcs 4. Please install rcs-core using pip.")
+            message(FATAL_ERROR "Could not find rcs. Please install rcs-core using pip.")
         endif()
         return()
     endif()

From 2e0f56a74dc580015f1ece5c8eb1867d7eef41ca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Fri, 26 Jun 2026 22:30:07 -0700
Subject: [PATCH 14/15] build: fix license and author name

---
 extensions/rcs_fr3/pyproject.toml              | 6 +++---
 extensions/rcs_panda/pyproject.toml            | 6 +++---
 extensions/rcs_realsense/pyproject.toml        | 6 +++---
 extensions/rcs_robotics_library/pyproject.toml | 6 +++---
 extensions/rcs_robotiq2f85/pyproject.toml      | 6 +++---
 extensions/rcs_so101/pyproject.toml            | 6 +++---
 extensions/rcs_tacto/pyproject.toml            | 4 ++--
 extensions/rcs_ur5e/pyproject.toml             | 4 ++--
 extensions/rcs_usb_cam/pyproject.toml          | 4 ++--
 extensions/rcs_xarm7/pyproject.toml            | 6 +++---
 extensions/rcs_zed/pyproject.toml              | 6 +++---
 pyproject.toml                                 | 4 ++--
 12 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/extensions/rcs_fr3/pyproject.toml b/extensions/rcs_fr3/pyproject.toml
index b2b0a262..dd29b836 100644
--- a/extensions/rcs_fr3/pyproject.toml
+++ b/extensions/rcs_fr3/pyproject.toml
@@ -18,9 +18,9 @@ version = "0.7.2"
 description = "RCS libfranka integration"
 dependencies = ["rcs-core>=0.7.2", "frankik"]
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
-maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
-authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
+license = "AGPL-3.0-or-later"
+maintainers = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
+authors = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
 requires-python = ">=3.11"
 
 
diff --git a/extensions/rcs_panda/pyproject.toml b/extensions/rcs_panda/pyproject.toml
index 2eb3d4f8..6622a6f1 100644
--- a/extensions/rcs_panda/pyproject.toml
+++ b/extensions/rcs_panda/pyproject.toml
@@ -17,9 +17,9 @@ version = "0.7.2"
 description = "RCS libfranka integration"
 dependencies = ["rcs-core>=0.7.2"]
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
-maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
-authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
+license = "AGPL-3.0-or-later"
+maintainers = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
+authors = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
 requires-python = ">=3.11"
 
 
diff --git a/extensions/rcs_realsense/pyproject.toml b/extensions/rcs_realsense/pyproject.toml
index 7c8b5f33..e093495c 100644
--- a/extensions/rcs_realsense/pyproject.toml
+++ b/extensions/rcs_realsense/pyproject.toml
@@ -7,15 +7,15 @@ name = "rcs_realsense"
 version = "0.7.2"
 description = "RCS realsense module"
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
+license = "AGPL-3.0-or-later"
 dependencies = [
   "rcs-core>=0.7.2",
   "pyrealsense2~=2.55.1",
   "pupil_apriltags",
   "diskcache",
 ]
-maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
-authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
+maintainers = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
+authors = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
 requires-python = ">=3.11"
 
 [tool.black]
diff --git a/extensions/rcs_robotics_library/pyproject.toml b/extensions/rcs_robotics_library/pyproject.toml
index 1a9bf297..fd214b2d 100644
--- a/extensions/rcs_robotics_library/pyproject.toml
+++ b/extensions/rcs_robotics_library/pyproject.toml
@@ -16,11 +16,11 @@ name = "rcs_robotics_library"
 version = "0.7.2"
 description = "RCS robotics library integration"
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
+license = "AGPL-3.0-or-later"
 dependencies = ["rcs-core>=0.7.2"]
-maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
+maintainers = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
 authors = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
   { name = "Pierre Krack", email = "pierre.krack@utn.de" },
 ]
 requires-python = ">=3.11"
diff --git a/extensions/rcs_robotiq2f85/pyproject.toml b/extensions/rcs_robotiq2f85/pyproject.toml
index 144fcae1..4584132e 100644
--- a/extensions/rcs_robotiq2f85/pyproject.toml
+++ b/extensions/rcs_robotiq2f85/pyproject.toml
@@ -12,10 +12,10 @@ dependencies = [
 ]
 readme = "README.md"
 maintainers = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
 ]
 authors = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
 ]
 requires-python = ">=3.11"
-license = { text = "AGPL-3.0-or-later" }
+license = "AGPL-3.0-or-later"
diff --git a/extensions/rcs_so101/pyproject.toml b/extensions/rcs_so101/pyproject.toml
index 88c3cd20..33b71daf 100644
--- a/extensions/rcs_so101/pyproject.toml
+++ b/extensions/rcs_so101/pyproject.toml
@@ -17,9 +17,9 @@ version = "0.7.2"
 description = "RCS SO101 module"
 dependencies = ["rcs-core>=0.7.2", "lerobot==0.3.3"]
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
-maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
-authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
+license = "AGPL-3.0-or-later"
+maintainers = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
+authors = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
 requires-python = ">=3.11"
 
 [tool.scikit-build]
diff --git a/extensions/rcs_tacto/pyproject.toml b/extensions/rcs_tacto/pyproject.toml
index c31bc919..576b67ea 100644
--- a/extensions/rcs_tacto/pyproject.toml
+++ b/extensions/rcs_tacto/pyproject.toml
@@ -12,9 +12,9 @@ dependencies = [
   "mujoco-tacto@git+https://github.com/utn-air/mujoco-tacto.git@main",
 ]
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
+license = "AGPL-3.0-or-later"
 maintainers = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
   { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
 ]
 authors = [{ name = "Seongjin Bien", email = "seongjin.bien@utn.de" }]
diff --git a/extensions/rcs_ur5e/pyproject.toml b/extensions/rcs_ur5e/pyproject.toml
index efad4cc9..497530cd 100644
--- a/extensions/rcs_ur5e/pyproject.toml
+++ b/extensions/rcs_ur5e/pyproject.toml
@@ -8,12 +8,12 @@ version = "0.7.2"
 description = "RCS UR5e module"
 dependencies = ["rcs-core>=0.7.2", "ur_rtde==1.6.1"]
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
+license = "AGPL-3.0-or-later"
 maintainers = [
   { name = "Johannes Hechtl", email = "johannes.hechtl@siemens.com" },
 ]
 authors = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
   { name = "Johannes Hechtl", email = "johannes.hechtl@siemens.com" },
 ]
 requires-python = ">=3.11"
diff --git a/extensions/rcs_usb_cam/pyproject.toml b/extensions/rcs_usb_cam/pyproject.toml
index b2426094..a78c3852 100644
--- a/extensions/rcs_usb_cam/pyproject.toml
+++ b/extensions/rcs_usb_cam/pyproject.toml
@@ -7,10 +7,10 @@ name = "rcs_usb_cam"
 version = "0.7.2"
 description = "RCS USB Camera module"
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
+license = "AGPL-3.0-or-later"
 dependencies = ["rcs-core>=0.7.2", "opencv-python~=4.10.0"]
 maintainers = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
   { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
 ]
 authors = [{ name = "Seongjin Bien", email = "seongjin.bien@utn.de" }]
diff --git a/extensions/rcs_xarm7/pyproject.toml b/extensions/rcs_xarm7/pyproject.toml
index af0fce1d..3671b0ba 100644
--- a/extensions/rcs_xarm7/pyproject.toml
+++ b/extensions/rcs_xarm7/pyproject.toml
@@ -8,13 +8,13 @@ version = "0.7.2"
 description = "RCS xArm7 module"
 dependencies = ["rcs-core>=0.7.2", "xarm-python-sdk==1.17.0"]
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
+license = "AGPL-3.0-or-later"
 maintainers = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
   { name = "Ken Nakahara", email = "knakahara@lasr.org" },
 ]
 authors = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
   { name = "Ken Nakahara", email = "knakahara@lasr.org" },
 ]
 requires-python = ">=3.11"
diff --git a/extensions/rcs_zed/pyproject.toml b/extensions/rcs_zed/pyproject.toml
index c6bc05c8..5289ec2e 100644
--- a/extensions/rcs_zed/pyproject.toml
+++ b/extensions/rcs_zed/pyproject.toml
@@ -7,7 +7,7 @@ name = "rcs_zed"
 version = "0.7.2"
 description = "RCS ZED camera module"
 readme = "README.md"
-license = { text = "AGPL-3.0-or-later" }
+license = "AGPL-3.0-or-later"
 dependencies = [
   "rcs-core>=0.7.2",
   "opencv-python~=4.10.0",
@@ -15,8 +15,8 @@ dependencies = [
   "diskcache",
   "typer~=0.9",
 ]
-maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
-authors = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
+maintainers = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
+authors = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
 requires-python = ">=3.11"
 
 [tool.black]
diff --git a/pyproject.toml b/pyproject.toml
index 5bfb8d16..dda7fda7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -46,9 +46,9 @@ dependencies = [
   "pandas",
 ]
 readme = "README.md"
-maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
+maintainers = [{ name = "Tobias Juelg", email = "tobias.juelg@utn.de" }]
 authors = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
   { name = "Pierre Krack", email = "pierre.krack@utn.de" },
   { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
 ]

From 53f0d75d3d7fc2bbd10f3ed81a417328be1bf2b7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20J=C3=BClg?= <tobias.juelg@utn.de>
Date: Fri, 26 Jun 2026 23:12:45 -0700
Subject: [PATCH 15/15] ci: fix wheel and cibuildwheel for pipy uploading

---
 .github/workflows/build_wheels.yaml | 57 +++++++++++++++++++++++++----
 1 file changed, 50 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/build_wheels.yaml b/.github/workflows/build_wheels.yaml
index fc272ef1..59b98f57 100644
--- a/.github/workflows/build_wheels.yaml
+++ b/.github/workflows/build_wheels.yaml
@@ -23,19 +23,62 @@ jobs:
           name: core-wheels
           path: ./wheelhouse/*.whl
 
-  build_extension_wheels:
-    name: Build ${{ matrix.extension }} wheels on Python ${{ matrix.python-version }}
+  build_cpp_extension_wheels:
+    name: Build C++ extension wheels for ${{ matrix.extension }}
     needs: [build_core_wheels]
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.11", "3.12", "3.13"]
         extension:
           - rcs_fr3
           - rcs_panda
           - rcs_robotics_library
           - rcs_so101
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/download-artifact@v4
+        with:
+          name: core-wheels
+          path: dist/core
+
+      - name: Install root Debian dependencies
+        run: |
+          sudo apt-get update
+          sudo xargs -a debian_deps.txt apt-get install -y
+
+      - name: Install extension Debian dependencies
+        run: |
+          deps_file="extensions/${{ matrix.extension }}/debian_deps.txt"
+          if [ -f "${deps_file}" ]; then
+            sudo xargs -a "${deps_file}" apt-get install -y
+          fi
+
+      - name: Build C++ extension wheels
+        uses: pypa/cibuildwheel@v2.22.0
+        env:
+          CIBW_ARCHS_LINUX: x86_64
+          CIBW_BUILD: cp311-* cp312-* cp313-*
+          PIP_FIND_LINKS: /project/dist/core
+        with:
+          package-dir: extensions/${{ matrix.extension }}
+          output-dir: extensions/${{ matrix.extension }}/wheelhouse
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.extension }}
+          path: extensions/${{ matrix.extension }}/wheelhouse/*.whl
+
+  build_python_extension_wheels:
+    name: Build pure Python wheel for ${{ matrix.extension }}
+    needs: [build_core_wheels]
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        extension:
           - rcs_realsense
           - rcs_robotiq2f85
           - rcs_tacto
@@ -67,10 +110,10 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v5
         with:
-          python-version: ${{ matrix.python-version }}
+          python-version: "3.11"
           cache: pip
 
-      - name: Build extension wheel
+      - name: Build pure Python wheel
         env:
           PIP_FIND_LINKS: ${{ github.workspace }}/dist/core
         run: |
@@ -80,11 +123,11 @@ jobs:
 
       - uses: actions/upload-artifact@v4
         with:
-          name: wheels-${{ matrix.extension }}-py${{ matrix.python-version }}
+          name: wheels-${{ matrix.extension }}
           path: extensions/${{ matrix.extension }}/dist/*.whl
 
   upload_pypi:
-    needs: [build_core_wheels, build_extension_wheels]
+    needs: [build_core_wheels, build_cpp_extension_wheels, build_python_extension_wheels]
     runs-on: ubuntu-latest
     if: github.event_name == 'release' && github.event.action == 'published'
     environment: pypi