RCS xArm7 Extension

Support for the xArm7 robot in RCS.

This extension depends on rcs-core. Documentation: https://robotcontrolstack.org/extensions/rcs_xarm7

Installation

Install from PyPI:

pip install rcs-xarm7

Warning: plain pip install rcs-xarm7 will install the published rcs-core dependency from PyPI.

Install from a local checkout:

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:

pip install -ve . --no-build-isolation
pip install -ve extensions/rcs_xarm7

Usage

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.