Apps

RCS ships with ready-to-use applications for common operator workflows such as robot teleoperation and remote policy inference.

Teleoperation

Use the Meta Quest 3 teleoperation examples when you want to collect demonstrations or directly control a robot from an operator interface. RCS provides examples for Franka, I2RT YAM and Flexiv Rizon 4s arms.

• Example guide: examples/teleop/README.md

• Franka example: examples/teleop/franka.py

• YAM example: examples/teleop/yam.py

• Rizon 4s example: examples/teleop/rizon.py

The Franka example supports Meta Quest 3 and GELLO-based setups. The YAM example supports dual-arm Meta Quest 3 teleoperation in simulation or on hardware; install the YAM extension before using real YAM hardware. The Rizon 4s example teleoperates a dual-arm Rizon 4s setup with Grav grippers via Meta Quest 3, in simulation (rcs/rizon4s_duo) or on hardware; install the Flexiv extension before using real Rizon hardware.

Inference

Use the Franka inference app when you want to run a remote policy server, for example through vlagents, against an RCS hardware environment.

• Example guide: examples/inference/README.md

• Main script: examples/inference/franka.py

• Example config: examples/inference/franka.json

The inference example expects a compatible policy server to already be running and explains the runtime keyboard commands and config fields in its README.