Sample controller to show how to use mc_rtc without the QP

This will:

• Generate random joint positions (within the robot kinematics limits)
• Track them with a posture task
• or disable the QP entirely and set the generated target as output directly
• The QP is enabled/disabled from a state by setting a RandomJointsExample::DisableQP flag in the datastore. This flag is checked by RandomJointsExample::run to choose whether the QP should run. This flag is set through the gui in this example.

See the following demo video:

2026-04-24.11-32-34.mp4

How to use

With nix

nix develop github:jrl-umi3218/mc_random_joints_example
mc-rtc-magnum &
mc_rtc_ticker