fix: franka hardware testing

.dockerignore

@@ -1 +1,3 @@
 **/build/
+real*
+test*

docker/Dockerfile

@@ -53,7 +53,10 @@ RUN chmod +x /usr/local/bin/link-editable-source \
     && uv pip install --no-build-isolation /opt/rcs-src/extensions/rcs_fr3 \
     && uv pip install /opt/rcs-src/extensions/rcs_realsense \
     && uv pip install /opt/rcs-src/extensions/rcs_robotiq2f85 \
-    && uv pip install /opt/rcs-src/extensions/rcs_zed
+    && uv pip install /opt/rcs-src/extensions/rcs_zed \
+    && uv pip install /opt/rcs-src/examples/teleop/SimPublisher \
+    && uv pip install /opt/rcs-src/2f85-python-driver \
+    && uv pip install /opt/rcs-src/vlagents
 
 WORKDIR /workspace/robot-control-stack
 

docker/README.md

@@ -23,6 +23,7 @@ Notes:
 - `~/zed_models` is mounted into `/usr/local/zed/resources` to match the direct `docker run` setup.
 - `/dev/dri` is masked inside the container so host Mesa/AMD render nodes do not override the NVIDIA runtime devices.
 - NVIDIA PRIME/GLX environment variables are exported to bias OpenGL/EGL selection toward the NVIDIA stack when using X11 forwarding.
-- Python source changes are picked up from the mounted repo, including `extensions/rcs_zed`.
+- The simulator still bootstraps EGL for offscreen MuJoCo camera rendering; set `RCS_MUJOCO_DISABLE_EGL=1` only if you intentionally want to disable that path.
+- Python source changes are picked up from the mounted repo.
 - If you change C++ code in `rcs` or `rcs_fr3`, rebuild the image.
 - For non-GPU hosts, comment out the GPU-related lines in `docker/compose/dev.yml`.

docker/link-editable-source.sh

@@ -10,26 +10,21 @@ fi
 
 SITE_PACKAGES="$(python -c 'import sysconfig; print(sysconfig.get_paths()["purelib"])')"
 
-link_mixed_package() {
+link_compiled_package() {
     src_dir="$1"
     dst_dir="$2"
-    keep_dir_name="${3:-}"
 
     if [ ! -d "$src_dir" ] || [ ! -d "$dst_dir" ]; then
         return
     fi
 
-    # Replace only the Python sources from the mounted repo and keep compiled
-    # artifacts that were installed into site-packages during image build.
-    for path in "$src_dir"/* "$src_dir"/.[!.]* "$src_dir"/..?*; do
-        [ -e "$path" ] || continue
-        name="$(basename "$path")"
-        if [ -n "$keep_dir_name" ] && [ "$name" = "$keep_dir_name" ]; then
-            continue
-        fi
-        rm -rf "$dst_dir/$name"
-        cp -as "$path" "$dst_dir/$name"
-    done
+    tmp_keep="$(mktemp -d)"
+    find "$dst_dir" -maxdepth 1 \( -name '_core*.so' -o -name 'lib*.so*' \) -exec mv {} "$tmp_keep/" \;
+    rm -rf "$dst_dir"
+    mkdir -p "$dst_dir"
+    cp -as "$src_dir/." "$dst_dir/"
+    find "$tmp_keep" -maxdepth 1 -type f -exec mv {} "$dst_dir/" \;
+    rmdir "$tmp_keep"
 }
 
 link_pure_python_package() {
@@ -44,8 +39,9 @@ link_pure_python_package() {
     ln -s "$src_dir" "$dst_dir"
 }
 
-link_mixed_package "$REPO_ROOT/python/rcs" "$SITE_PACKAGES/rcs" "_core"
-link_mixed_package "$REPO_ROOT/extensions/rcs_fr3/src/rcs_fr3" "$SITE_PACKAGES/rcs_fr3" "_core"
+link_compiled_package "$REPO_ROOT/python/rcs" "$SITE_PACKAGES/rcs"
+link_compiled_package "$REPO_ROOT/extensions/rcs_fr3/src/rcs_fr3" "$SITE_PACKAGES/rcs_fr3"
 link_pure_python_package "$REPO_ROOT/extensions/rcs_realsense/src/rcs_realsense" "$SITE_PACKAGES/rcs_realsense"
 link_pure_python_package "$REPO_ROOT/extensions/rcs_robotiq2f85/src/rcs_robotiq2f85" "$SITE_PACKAGES/rcs_robotiq2f85"
 link_pure_python_package "$REPO_ROOT/extensions/rcs_zed/src/rcs_zed" "$SITE_PACKAGES/rcs_zed"
+link_pure_python_package "$REPO_ROOT/vlagents" "$SITE_PACKAGES/vlagents"