dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/utils/detail/XmlHelpers-impl.hpp

@@ -0,0 +1,213 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_UTILS_DETAIL_XMLHELPERS_IMPL_HPP_
+#define DART_UTILS_DETAIL_XMLHELPERS_IMPL_HPP_
+
+#include <dart/utils/XmlHelpers.hpp>
+
+#include <dart/common/String.hpp>
+
+namespace dart::utils {
+
+//==============================================================================
+template <typename S, int N>
+std::string toString(const Eigen::Matrix<S, N, 1>& v)
+{
+  std::stringstream ss;
+  ss << v.transpose();
+  return ss.str();
+}
+
+//==============================================================================
+template <typename S>
+std::string toString(
+    const Eigen::Transform<S, 3, Eigen::Isometry>& v,
+    const std::string& rotationType)
+{
+  Eigen::Matrix<S, 3, 1> angles;
+  if (rotationType == "intrinsic") {
+    angles = math::matrixToEulerXYZ(v.rotation());
+  } else if (rotationType == "extrinsic") {
+    angles = math::matrixToEulerZYX(v.rotation()).reverse();
+  } else {
+    DART_ERROR(
+        "Unsupported rotation type [{}]. Assuming intrinsic.", rotationType);
+    angles = math::matrixToEulerXYZ(v.rotation());
+  }
+
+  std::stringstream ss;
+  ss.precision(6);
+  ss << v.translation().transpose() << " ";
+  ss << angles;
+
+  return ss.str();
+}
+
+//==============================================================================
+template <std::size_t N>
+Eigen::Matrix<double, N, 1> toVectorNd(const std::string& str)
+{
+  const std::vector<std::string> pieces = common::split(common::trim(str));
+  const std::size_t sizeToRead = std::min(N, pieces.size());
+  if (pieces.size() < N) {
+    dterr << "Failed to read a vector because the dimension '" << pieces.size()
+          << "' is less than the expectation '" << N << "'.\n";
+  } else if (pieces.size() > N) {
+    dterr << "Failed to read a vector because the dimension '" << pieces.size()
+          << "' is greater than the expectation '" << N << "'.\n";
+  }
+
+  Eigen::Matrix<double, N, 1> ret = Eigen::Matrix<double, N, 1>::Zero();
+
+  for (std::size_t i = 0; i < sizeToRead; ++i) {
+    if (pieces[i] != "") {
+      try {
+        ret[i] = toDouble(pieces[i]);
+      } catch (std::exception& e) {
+        dterr << "value [" << pieces[i]
+              << "] is not a valid double for Eigen::Vector" << N << "d[" << i
+              << "]: " << e.what() << "\n";
+      }
+    }
+  }
+
+  return ret;
+}
+
+//==============================================================================
+template <std::size_t N>
+Eigen::Matrix<double, N, 1> getAttributeVectorNd(
+    const tinyxml2::XMLElement* element, const std::string& attributeName)
+{
+  const std::string val = getAttributeString(element, attributeName);
+  return toVectorNd<N>(val);
+}
+
+//==============================================================================
+template <typename ElementType>
+TemplatedElementEnumerator<ElementType>::TemplatedElementEnumerator(
+    ElementPtr parentElement, const std::string& childElementName)
+  : mParentElement(parentElement),
+    mChildElementName(childElementName),
+    mCurrentElement(nullptr)
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <typename ElementType>
+TemplatedElementEnumerator<ElementType>::~TemplatedElementEnumerator()
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <typename ElementType>
+bool TemplatedElementEnumerator<ElementType>::next()
+{
+  if (!mParentElement)
+    return false;
+
+  if (mCurrentElement) {
+    mCurrentElement
+        = mCurrentElement->NextSiblingElement(mChildElementName.c_str());
+  } else {
+    mCurrentElement
+        = mParentElement->FirstChildElement(mChildElementName.c_str());
+  }
+
+  if (!valid())
+    mParentElement = nullptr;
+
+  return valid();
+}
+
+//==============================================================================
+template <typename ElementType>
+typename TemplatedElementEnumerator<ElementType>::ElementPtr
+TemplatedElementEnumerator<ElementType>::get() const
+{
+  return mCurrentElement;
+}
+
+//==============================================================================
+template <typename ElementType>
+typename TemplatedElementEnumerator<ElementType>::ElementPtr
+TemplatedElementEnumerator<ElementType>::operator->() const
+{
+  return mCurrentElement;
+}
+
+//==============================================================================
+template <typename ElementType>
+typename TemplatedElementEnumerator<ElementType>::ElementRef
+TemplatedElementEnumerator<ElementType>::operator*() const
+{
+  return *mCurrentElement;
+}
+
+//==============================================================================
+template <typename ElementType>
+bool TemplatedElementEnumerator<ElementType>::operator==(
+    const TemplatedElementEnumerator<ElementType>& rhs) const
+{
+  // If they point at the same node, then the names must match
+  return (this->mParentElement == rhs.mParentElement)
+         && (this->mCurrentElement == rhs.mCurrentElement)
+         && (this->mCurrentElement != nullptr
+             || (this->mChildElementName == rhs.mChildElementName));
+}
+
+//==============================================================================
+template <typename ElementType>
+TemplatedElementEnumerator<ElementType>&
+TemplatedElementEnumerator<ElementType>::operator=(
+    const TemplatedElementEnumerator<ElementType>& rhs)
+{
+  this->mParentElement = rhs.mParentElement;
+  this->mChildElementName = rhs.mChildElementName;
+  this->mCurrentElement = rhs.mCurrentElement;
+
+  return *this;
+}
+
+//==============================================================================
+template <typename ElementType>
+bool TemplatedElementEnumerator<ElementType>::valid() const
+{
+  return mCurrentElement != nullptr;
+}
+
+} // namespace dart::utils
+
+#endif // #ifndef DART_UTILS_DETAIL_XMLHELPERS_IMPL_HPP_

include/dart/utils/mjcf/MjcfParser.hpp

@@ -0,0 +1,80 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_UTILS_MJCFPARSER_HPP_
+#define DART_UTILS_MJCFPARSER_HPP_
+
+#include <dart/simulation/World.hpp>
+
+#include <dart/common/LocalResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
+
+#include <string>
+
+namespace dart {
+namespace utils {
+namespace MjcfParser {
+
+struct Options
+{
+  /// Resource retriever. LocalResourceRetriever is used if it's nullptr.
+  common::ResourceRetrieverPtr mRetriever;
+
+  /// The root <geom> elements in the <worldbody> are parsed as Skeletons.
+  std::string mGeomSkeletonNamePrefix;
+
+  /// The root <site> elements in the <worldbody> ared parsed as Skeletons.
+  std::string mSiteSkeletonNamePrefix;
+
+  /// Constructor
+  Options(
+      const common::ResourceRetrieverPtr& retrieverOrNullptr = nullptr,
+      const std::string& geomSkeletonNamePrefix = "__geom_skel__",
+      const std::string& siteSkeletonNamePrefix = "__site_skel__");
+};
+
+/// Reads World from MJCF model file
+///
+/// \param[in] uri URI to the XML file
+/// \param[in] retrieverOrNull Retriever to acquire the XML file from \c uri
+/// \return Parsed world.
+///
+/// \warning This MJCF model parser is experimental and not complete
+/// implementation of the spec.
+simulation::WorldPtr readWorld(
+    const common::Uri& uri, const Options& options = Options());
+
+} // namespace MjcfParser
+} // namespace utils
+} // namespace dart
+
+#endif // #ifndef DART_UTILS_MJCFPARSER_HPP_

include/dart/utils/mjcf/all.hpp

@@ -0,0 +1,3 @@
+// Automatically generated file by cmake
+
+#include "dart/utils/mjcf/MjcfParser.hpp"

include/dart/utils/mjcf/mjcf.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/utils/mjcf/all.hpp> instead of <dart/utils/mjcf/mjcf.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/utils/mjcf/mjcf.hpp is deprecated. Use dart/utils/mjcf/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/utils/mjcf/mjcf.hpp is deprecated. Use dart/utils/mjcf/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/utils/mjcf/all.hpp"

include/dart/utils/sdf/SdfParser.hpp

@@ -0,0 +1,98 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_UTILS_SDFPARSER_HPP_
+#define DART_UTILS_SDFPARSER_HPP_
+
+#include <dart/simulation/World.hpp>
+
+#include <dart/dynamics/Skeleton.hpp>
+
+#include <dart/common/Deprecated.hpp>
+#include <dart/common/ResourceRetriever.hpp>
+
+namespace dart {
+namespace utils {
+
+namespace SdfParser {
+
+/// Root joint type to be used when the parent joint of the root link is not
+/// specified in the URDF file.
+enum class RootJointType
+{
+  /// Floating joint type of URDF.
+  FLOATING = 0,
+
+  /// Fixed joint type of URDF.
+  FIXED = 1,
+};
+
+struct Options
+{
+  /// Resource retriever. LocalResourceRetriever is used if it's nullptr.
+  common::ResourceRetrieverPtr mResourceRetriever;
+
+  /// Default root joint type to be used when the parent joint of the root
+  /// link is not specified in the URDF file.
+  RootJointType mDefaultRootJointType;
+
+  /// Default constructor
+  Options(
+      common::ResourceRetrieverPtr resourceRetriever = nullptr,
+      RootJointType defaultRootJointType = RootJointType::FLOATING);
+};
+
+DART_DEPRECATED(6.0)
+simulation::WorldPtr readSdfFile(
+    const common::Uri& uri,
+    const common::ResourceRetrieverPtr& retriever = nullptr);
+
+simulation::WorldPtr readWorld(
+    const common::Uri& uri, const Options& options = Options());
+
+DART_DEPRECATED(6.12)
+simulation::WorldPtr readWorld(
+    const common::Uri& uri, const common::ResourceRetrieverPtr& retriever);
+
+dynamics::SkeletonPtr readSkeleton(
+    const common::Uri& uri, const Options& options = Options());
+
+DART_DEPRECATED(6.12)
+dynamics::SkeletonPtr readSkeleton(
+    const common::Uri& uri, const common::ResourceRetrieverPtr& retrievers);
+
+} // namespace SdfParser
+
+} // namespace utils
+} // namespace dart
+
+#endif // #ifndef DART_UTILS_SDFPARSER_HPP_

include/dart/utils/sdf/all.hpp

@@ -0,0 +1,3 @@
+// Automatically generated file by cmake
+
+#include "dart/utils/sdf/SdfParser.hpp"

include/dart/utils/sdf/sdf.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/utils/sdf/all.hpp> instead of <dart/utils/sdf/sdf.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/utils/sdf/sdf.hpp is deprecated. Use dart/utils/sdf/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/utils/sdf/sdf.hpp is deprecated. Use dart/utils/sdf/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/utils/sdf/all.hpp"

include/dart/utils/urdf/BackwardCompatibility.hpp

@@ -0,0 +1,52 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_UTILS_URDF_BACKWARDCOMPATIBILITY_HPP_
+#define DART_UTILS_URDF_BACKWARDCOMPATIBILITY_HPP_
+
+#include "dart/config.hpp"
+
+/* urdfdom_headers Version number */
+// We define the version numbers of urdfdom_headers here since it doesn't expose
+// the version numbers itself in source level.
+#define URDFDOM_HEADERS_MAJOR_VERSION @urdfdom_headers_VERSION_MAJOR @
+#define URDFDOM_HEADERS_MINOR_VERSION @urdfdom_headers_VERSION_MINOR @
+#define URDFDOM_HEADERS_PATCH_VERSION @urdfdom_headers_VERSION_PATCH @
+
+#define URDFDOM_HEADERS_VERSION_AT_LEAST(x, y, z)                              \
+  (URDFDOM_HEADERS_MAJOR_VERSION > x                                           \
+   || (URDFDOM_HEADERS_MAJOR_VERSION >= x                                      \
+       && (URDFDOM_HEADERS_MINOR_VERSION > y                                   \
+           || (URDFDOM_HEADERS_MINOR_VERSION >= y                              \
+               && URDFDOM_HEADERS_PATCH_VERSION >= z))))
+
+#endif // DART_UTILS_URDF_BACKWARDCOMPATIBILITY_HPP_