docs: updated install instructions

- updated install instructions
- updated licenses and readmes

Author: juelg

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
 ```
 

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
 ```

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.

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`.

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
 ```

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
 ```

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())

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
 ```

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
 ```