RCS SO101 Extension

Support for the SO101 robot in RCS.

This extension depends on rcs-core. Documentation: https://robotcontrolstack.org/extensions/rcs_so101

Installation

Install from PyPI:

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:

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_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:

pip uninstall -y opencv-python-headless opencv-python
pip install opencv-python~=4.10.0.84

For current examples, see examples/so101.