User Guide

The User Guide provides in-depth information about the core concepts and components of the Robot Control Stack.

If you want the quickest orientation first, start with:

• RCS Conventions

• Sim Scene Configuration

• Architecture
  • Core Design Principles
  • Environment Wrappers
  • Hardware Abstraction
  • Simulation
  • Robotics Tool Kit
• Gymnasium Interface
  • Environment Creation
  • Control Modes
  • Synchronous vs Asynchronous
  • Wrappers
  • Reset Stack
• Low-Level API
  • C++ Interface
  • Python Bindings
  • Adding New Robots
• RCS Conventions
  • At a glance
  • Frames
  • Pose representations
  • Gripper convention
  • Units
  • MuJoCo caveat: free-joint quaternions use wxyz
  • Practical checklist
• Sim Scene Configuration
  • The simple mental model
  • How the main placement frames work
  • SimEnvCreatorConfig keys
  • What usually lives inside the nested configs
  • The most important nested configs
  • Easy examples
  • Camera depth units
  • Common mistakes
  • A practical workflow