Robot Control Stack (RCS) is a unified and multilayered robot control interface over a MuJoCo simulation and real world robot currently implemented for the FR3/Panda, xArm7, UR5e and SO101.

We build and test RCS on the latest Debian and on the latest Ubuntu LTS.

1. System Dependencies:

   sudo apt install $(cat debian_deps.txt)

2. Python Environment:

   conda create -n rcs python=3.11
   conda activate rcs
   pip install -r requirements.txt

3. Install RCS:

   pip install -ve . --no-build-isolation

RCS supports various hardware extensions (e.g., FR3, xArm7, RealSense). These are located in the extensions directory.

To install an extension:

pip install -ve extensions/rcs_fr3 --no-build-isolation

For a full list of extensions and detailed documentation, visit robotcontrolstack.org/extensions.

For full documentation, including installation, usage, and API reference, please visit:

robotcontrolstack.org

If you find RCS useful for your academic work, please consider citing it:

@misc{juelg2025robotcontrolstack,
  title={{Robot Control Stack}: {A} Lean Ecosystem for Robot Learning at Scale}, 
  author={Tobias J{\"u}lg and Pierre Krack and Seongjin Bien and Yannik Blei and Khaled Gamal and Ken Nakahara and Johannes Hechtl and Roberto Calandra and Wolfram Burgard and Florian Walter},
  year={2025},
  howpublished = {\url{https://arxiv.org/abs/2509.14932}}
}

For more scientific info, visit the paper website.