Robot Control Stack

Robot Control Stack (RCS) is a unified and multilayered robot control interface over a MuJoCo simulation and real-world robots. It is designed to be a lean ecosystem for robot learning at scale.

Features

• Unified Interface: Seamlessly switch between simulation (MuJoCo) and real hardware.

• Layered Architecture:

  • High-Level: Gymnasium-based Python API for RL and general control.

  • Low-Level: C++ core with Python bindings for performance-critical tasks.

• Extensible: Easy to add new robots and sensors via C++ or Python extensions.

• Lean: Minimal dependencies and overhead.

Documentation

API

• API
  • Getting Started
  • Architecture
  • Gymnasium Interface
  • Low-Level API

Extensions

• Extensions
  • Extensions Overview
  • RCS FR3 Extension
  • RCS Panda Extension
  • RCS xArm7 Extension
  • RCS SO101 Extension
  • RCS RealSense Extension
  • RCS USB Cam Extension
  • RCS Tacto Extension
  • RCS Robotics Library Extension

Extending RCS

• Extending RCS
  • Creating a Python Extension
  • Creating a C++ Extension
  • Contributing

Project Info

• Project Info
  • Changelog
  • Roadmap

Citation

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.