mc_rtc
Interfaces
Robots
Tutorials
API documentation
JSON/YAML documentation
Online demonstration
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Other tutorials
Introduction
Installation guide
Configuring mc_rtc and its components
Running a controller
Your first controller with mc_rtc
Controlling the CoM
Controlling an end-effector (and loading)
Multi-robot controller
Framework usage
mc_rtc::Configuration
general purpose configuration
Logging data
Printing information to the screen
Graphical User Interface (GUI)
Display plots live from the controller
ROS integration
Using global plugins
Schema structures integrated to the framework
Framework tools
mc_rtc_ticker and the Replay plugin
Log manipulation
Log plotting
Replay visualization
Visualizing surfaces
Visualizing convexes
Control recipes
Using the FSM facilities
Main FSM states
FSM controller in practice
Deriving the FSM controller
DataStore: Sharing Objects
State Observation Pipelines
Using the LIPM Stabilizer
Constraint the speed of a body
Moving a contact
Change the DoF constraints on a contact
Select specific joints for a task
Affect different weight to different axis in the task space
Joints Stiffness
Constraining the accessible region of the CoM
Samples
Available sample controllers
Admittance sample controller
Advanced topics
Implement a new plugin for mc_rtc
Implement a new mc_rtc interface
Environment creation for mc_rtc
Integrate a new robot in mc_rtc
Supporting MC_RTC_BUILD_STATIC in your code
Debugging LSSOL output 6
Implement a new mc_rtc interface
Coming soon
Next tutorial: Environment creation for mc_rtc
mc_rtc
mc_rtc