docs: added documentation for assets path

.github/workflows/build_wheels.yaml

@@ -0,0 +1,143 @@
+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_cpp_extension_wheels:
+    name: Build C++ extension wheels for ${{ matrix.extension }}
+    needs: [build_core_wheels]
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        extension:
+          - rcs_fr3
+          - rcs_panda
+          - rcs_robotics_library
+          - rcs_so101
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/download-artifact@v4
+        with:
+          name: core-wheels
+          path: dist/core
+
+      - name: Install root Debian dependencies
+        run: |
+          sudo apt-get update
+          sudo xargs -a debian_deps.txt apt-get install -y
+
+      - name: Install extension Debian dependencies
+        run: |
+          deps_file="extensions/${{ 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 ${{ matrix.extension }}
+    needs: [build_core_wheels]
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        extension:
+          - rcs_realsense
+          - rcs_robotiq2f85
+          - rcs_tacto
+          - rcs_ur5e
+          - rcs_usb_cam
+          - rcs_xarm7
+          - rcs_zed
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/download-artifact@v4
+        with:
+          name: core-wheels
+          path: dist/core
+
+      - name: Install root Debian dependencies
+        run: |
+          sudo apt-get update
+          sudo xargs -a debian_deps.txt apt-get install -y
+
+      - name: Install extension Debian dependencies
+        run: |
+          deps_file="extensions/${{ 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: "3.11"
+          cache: pip
+
+      - name: Build pure Python 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-${{ matrix.extension }}
+          path: extensions/${{ matrix.extension }}/dist/*.whl
+
+  upload_pypi:
+    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
+    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

.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

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

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"
 )
 

README.md

@@ -122,18 +122,21 @@ 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
 
 Make sure that common build tools (i.e., `build-essential`) and a C++ compiler like `gcc` or `clang` are installed on your system/conda/docker.
 
 *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
@@ -148,13 +151,20 @@ pip install 'pip>=25.1'
 pip install --group build_deps
 
 # install rcs
-pip install -ve .
-
+pip install -ve . --no-build-isolation
 ```
 
-### Via PyPI/pip
 
-*Coming soon...*
+### 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
+```
+
 
 ## 🦾 Hardware Extensions
 
@@ -164,6 +174,9 @@ 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
 ```
 
@@ -183,6 +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
 

docs/extensions/index.md

@@ -4,13 +4,16 @@
 :maxdepth: 2
 
 overview
+libfranka_versions
 rcs_fr3
 rcs_panda
 rcs_xarm7
+rcs_ur5e
 rcs_so101
 rcs_realsense
 rcs_usb_cam
 rcs_tacto
 rcs_robotics_library
 rcs_robotiq2f85
+rcs_zed
 ```

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.

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

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.