jrl-umi3218/mc_rtc

How jrl-umi3218/mc_rtc works

mc_rtc is a robot-control framework: an interface supplies robot state and receives desired commands through MCGlobalController, which delegates control to a selected MCController. Controllers work with robot models, optional observer pipelines, control tasks, and a QP solver; FSM controllers add state-driven behavior. The framework also exposes GUI and logging facilities, plugins, Python bindings, and ROS/Replay integrations. The graph reflects README capabilities and the sampled source; some subsystem wiring is documented by the framework structure but was not directly inspected, so uncertain edges are omitted.

Main entry points: mc_global_controller.cpp Global controller · MCController.cpp Controller · MetaTask.h Control tasks · ObserverPipeline.cpp Observer pipeline

Components 19

Control runtime

Global controller src/mc_control/mc_global_controller.cpp
Controller src/mc_control/MCController.cpp
FSM controller src/mc_control/fsm/Controller.cpp
FSM executor src/mc_control/fsm/Executor.cpp
Controller loader src/mc_control/ControllerLoader.cpp

Robot state

Observer pipeline src/mc_observers/ObserverPipeline.cpp
Observer loader src/mc_observers/ObserverLoader.cpp
Robot models src/mc_rbdyn/RobotLoader.cpp
Robot state include/mc_rbdyn/Robots.h

Control formulation

Control tasks include/mc_tasks/MetaTask.h
QP solver src/mc_solver/QPSolver.cpp
Trajectories include/mc_trajectory/Spline.h

User interfaces

GUI state src/mc_rtc/gui/StateBuilder.cpp
Controller server src/mc_control/ControllerServer.cpp
Logging src/mc_rtc/Logger.cpp

Extensions

Python controller src/mc_control/python/python_controller.cpp
ROS plugin plugins/ROS/src/plugin/ROS.cpp
Replay plugin plugins/Replay/src/Replay.cpp

Other components

Robot interface

Connections 22

Robot interface → Global controller: provides state
Global controller → Controller: runs controller
Controller loader → Global controller: loads controller
Global controller → Robot interface: returns commands
Global controller → Controller server: handles requests
Controller server → GUI state: publishes state
Global controller → GUI state: publishes GUI
Global controller → Robot state: updates state
Controller → Robot models: loads models
Controller → Observer pipeline: creates pipelines
Observer pipeline → Observer loader: loads observers
Observer pipeline → Robot state: updates estimates
FSM controller → Controller: extends runtime
FSM controller → FSM executor: runs states
FSM executor → Control tasks: dispatches behavior
Controller → Control tasks: configures tasks
Control tasks → QP solver: adds objectives
Trajectories → Control tasks: defines motion
Controller → Logging: records data
Python controller → Controller: creates controller
ROS plugin → Global controller: integrates control
Replay plugin → Global controller: replays data

More C++ diagrams: baotonglu/dash · geomscale/volesti · linaro/opencsd · karola3vax/cs2ac · microsoft/low-latency-audio

Drawn by GitDiagram on September 26, 2026 from the repository's file tree, README and source files. Read as Markdown ·