Awesome mc_rtc Projects

A curated list of awesome controllers, plugins, interfaces, and more for mc_rtc (Multi-Contact Robot Task Controller).

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📦 Table of Contents

• Categories
  • Controllers
  • Plugins
  • Tasks
  • Interfaces
  • Robot Lists
  • Others
• Contributing
• Tags
• License

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📂 Categories

🎮 Controllers

Custom controllers built with mc_rtc.

• posture_datastore_controller let the robot follow joints position that are written in the datastore (compatible with mc_ros_posture_pub_sub).

• collision_benchmark_controller an FSM made for the Kinova Gen3 that generates different trajectory to test collision detection plugins.

• monodzukuri2024_kinova_demo an advanced FSM for the Kinova Gen3 that showcases different torque controlled based compliant modes by using a DS4 controller.

🧩 Plugins

Extend mc_rtc capabilities with plugins!

Observers

• mc_residual_estimation a torque sensor based momentum residual estimator that estimates the external forces applied on a robot. Bonus feature, a complementary filter is used to fusion direct measurements from an F/T sensor.

• mc_super_twisting a super-twisting based external forces estimator.

• mc_collision_detection_jerk IMU based jerk estimator used to detect collisions.

• mc_energy_residual estimates the kinetics residual energy to obtain torques.

• mc_current_residual estimates the momentum-based residual based on the motor currents to obtain torques.

• mc_collision_detection_zurlo a plugin implementing the method from the paper Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot by Zurlo

• mc_collision_monitoring_birjandi a plugin implementing the method from the paper Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing, by Birjandi

Ros Integration

• mc_ros_posture_pub_sub plugin to subscribe, publish and share posture between mc_rtc and ros interface.

• mc_ros_force_sensor can be used to access any ROS message related to force/torque sensor data, including wrench messages.

• mc_ros_imu_sensor can be used to retrieve any ROS IMU message with angular velocity and linear acceleration.

Miscellaneous

• mc_joystick_plugin plugin to interact with a joystick controller, such as DS4 or Xbox controller.

🧠 Tasks

• Torque Task a fork of mc_rtc that allows to control the robot directly by torques.
• Minimum Jerk Task a standalone task project that implements a closed-loop minimum jerk task.

🖥 Interfaces

Tools to visualize or interact with mc_rtc controllers.

• mc_rtc_web_interface Modern web dashboard with live plots and controller management. #web #dashboard #gui

🤖 Robot Lists

Catalogs of robots supported by mc_rtc, that are not mentioned in the official website list:

• Kinova Gen3 Lightweight collaborative robotic arm with 7 DoF and torque sensors.

⚙️ Others

Miscellaneous projects: superbuilds, CI configs, examples.

• mc_rtc_superbuild Meta-build for downloading and building all mc_rtc dependencies. #superbuild #cmake #meta

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🤝 Contributing

Contributions are welcome! Please:

1. Fork the repo

2. Add your project under the appropriate category with:

   • Name
   • Link
   • Short description
   • Tags (like #controller, #plugin, etc.)

3. Submit a Pull Request

See CONTRIBUTING.md for detailed guidelines.

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📄 License

This list is licensed under the MIT License.