RCS FR3 Extension

Support for the Franka Research 3 (FR3) robot in RCS.

This extension depends on rcs-core. Documentation: https://robotcontrolstack.org/extensions/rcs_fr3

Installation

Install the Debian dependency first:

sudo apt install $(cat debian_deps.txt)

Install from PyPI:

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:

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:

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:

DESK_USERNAME=...
DESK_PASSWORD=...

Usage

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 end-to-end example, see examples/fr3/fr3_env_cartesian_control.py.

CLI

python -m rcs_fr3 --help