dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/utils/urdf/DartLoader.hpp

@@ -0,0 +1,277 @@
+/*
+ * 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_DARTLOADER_HPP_
+#define DART_UTILS_URDF_DARTLOADER_HPP_
+
+#include <dart/utils/CompositeResourceRetriever.hpp>
+#include <dart/utils/PackageResourceRetriever.hpp>
+
+#include <dart/simulation/World.hpp>
+
+#include <dart/dynamics/BodyNode.hpp>
+#include <dart/dynamics/Joint.hpp>
+#include <dart/dynamics/Skeleton.hpp>
+
+#include <dart/common/LocalResourceRetriever.hpp>
+#include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+#include <map>
+#include <string>
+
+namespace urdf {
+class ModelInterface;
+class Link;
+class Joint;
+class Pose;
+class Vector3;
+} // namespace urdf
+
+namespace dart {
+
+namespace dynamics {
+class Skeleton;
+class BodyNode;
+class Joint;
+class Shape;
+} // namespace dynamics
+namespace simulation {
+class World;
+}
+
+namespace utils {
+
+/**
+ * @class DartLoader
+ */
+class DartLoader
+{
+public:
+  /// \deprecated Deprecated in 6.11. Use RootJointType and Options instead.
+  ///
+  /// Flags for specifying URDF file parsing policies.
+  enum Flags
+  {
+    NONE = 0,
+
+    /// Parser the root link's joint type to be "fixed" joint when not
+    /// specified.
+    FIXED_BASE_LINK = 1 << 1,
+
+    /// The default flgas
+    DEFAULT = NONE,
+  };
+
+  /// 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,
+  };
+
+  /// Options to be used in parsing URDF files.
+  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 inertia properties to be used when the inertial element is not
+    /// specified in the link element.
+    dynamics::Inertia mDefaultInertia;
+
+    /// Default constructor
+    Options(
+        common::ResourceRetrieverPtr resourceRetriever = nullptr,
+        RootJointType defaultRootJointType = RootJointType::FLOATING,
+        const dynamics::Inertia& defaultInertia = dynamics::Inertia());
+  };
+
+  /// Constructor with the default ResourceRetriever.
+  explicit DartLoader(const Options& options = Options());
+
+  /// Sets options
+  void setOptions(const Options& options);
+
+  /// Returns options
+  const Options& getOptions() const;
+
+  /// Specify the directory of a ROS package. In your URDF files, you may see
+  /// strings with a package URI pattern such as:
+  ///
+  /// \code
+  /// "package://my_robot/meshes/mesh_for_my_robot.stl"
+  ///  \______/  \______/\___________________________/
+  ///      |        |                 |
+  ///   package  package   file path with respect to
+  ///   keyword   name       the package directory
+  /// \endcode
+  ///
+  /// For us to successfully parse a URDF, we need to be told what the path
+  /// to the package directory is, using addPackageDirectory(). In this case,
+  /// suppose the path to the my_robot package is /path/to/my_robot. Then you
+  /// should use addPackageDirectory("my_robot", "/path/to/my_robot").
+  /// Altogether, this implies that a file named
+  /// "/path/to/my_robot/meshes/mesh_for_my_robot.stl" exists. Whatever you
+  /// specify as the package directory will end up replacing the 'package
+  /// keyword' and 'package name' components of the URI string.
+  void addPackageDirectory(
+      const std::string& packageName, const std::string& packageDirectory);
+
+  /// Parse a file to produce a Skeleton
+  DART_DEPRECATED(6.11)
+  dynamics::SkeletonPtr parseSkeleton(
+      const common::Uri& uri,
+      const common::ResourceRetrieverPtr& resourceRetriever,
+      unsigned int flags = DEFAULT);
+
+  /// Parse a file to produce a Skeleton
+  dynamics::SkeletonPtr parseSkeleton(const common::Uri& uri);
+
+  /// Parse a text string to produce a Skeleton
+  DART_DEPRECATED(6.11)
+  dynamics::SkeletonPtr parseSkeletonString(
+      const std::string& urdfString,
+      const common::Uri& baseUri,
+      const common::ResourceRetrieverPtr& resourceRetriever,
+      unsigned int flags = DEFAULT);
+
+  /// Parse a text string to produce a Skeleton
+  dynamics::SkeletonPtr parseSkeletonString(
+      const std::string& urdfString, const common::Uri& baseUri);
+
+  /// Parse a file to produce a World
+  DART_DEPRECATED(6.11)
+  dart::simulation::WorldPtr parseWorld(
+      const common::Uri& uri,
+      const common::ResourceRetrieverPtr& resourceRetriever,
+      unsigned int flags = DEFAULT);
+
+  /// Parse a file to produce a World
+  dart::simulation::WorldPtr parseWorld(const common::Uri& uri);
+
+  /// Parse a text string to produce a World
+  DART_DEPRECATED(6.11)
+  dart::simulation::WorldPtr parseWorldString(
+      const std::string& urdfString,
+      const common::Uri& baseUri,
+      const common::ResourceRetrieverPtr& resourceRetriever,
+      unsigned int flags = DEFAULT);
+
+  /// Parse a text string to produce a World
+  dart::simulation::WorldPtr parseWorldString(
+      const std::string& urdfString, const common::Uri& baseUri);
+
+private:
+  typedef std::shared_ptr<dynamics::BodyNode::Properties> BodyPropPtr;
+  typedef std::shared_ptr<dynamics::Joint::Properties> JointPropPtr;
+
+  /// Parses the ModelInterface and spits out a Skeleton object
+  static dart::dynamics::SkeletonPtr modelInterfaceToSkeleton(
+      const urdf::ModelInterface* model,
+      const common::Uri& baseUri,
+      const common::ResourceRetrieverPtr& resourceRetriever,
+      const Options& options);
+
+  static bool createSkeletonRecursive(
+      const urdf::ModelInterface* model,
+      dynamics::SkeletonPtr skel,
+      const urdf::Link* lk,
+      dynamics::BodyNode* parent,
+      const common::Uri& baseUri,
+      const common::ResourceRetrieverPtr& _resourceRetriever,
+      const Options& options);
+
+  static bool addMimicJointsRecursive(
+      const urdf::ModelInterface* model,
+      dynamics::SkeletonPtr _skel,
+      const urdf::Link* _lk);
+
+  template <class VisualOrCollision>
+  static dynamics::ShapePtr createShape(
+      const VisualOrCollision* _vizOrCol,
+      const common::Uri& _baseUri,
+      const common::ResourceRetrieverPtr& _resourceRetriever);
+
+  static dynamics::BodyNode* createDartJointAndNode(
+      const urdf::Joint* _jt,
+      const dynamics::BodyNode::Properties& _body,
+      dynamics::BodyNode* _parent,
+      dynamics::SkeletonPtr _skeleton,
+      const Options& options);
+
+  static bool createDartNodeProperties(
+      const urdf::Link* _lk,
+      dynamics::BodyNode::Properties& properties,
+      const common::Uri& _baseUri,
+      const common::ResourceRetrieverPtr& _resourceRetriever,
+      const Options& options);
+
+  static bool createShapeNodes(
+      const urdf::ModelInterface* model,
+      const urdf::Link* lk,
+      dynamics::BodyNode* bodyNode,
+      const common::Uri& baseUri,
+      const common::ResourceRetrieverPtr& resourceRetriever);
+
+  common::ResourceRetrieverPtr getResourceRetriever(
+      const common::ResourceRetrieverPtr& _resourceRetriever);
+
+  static Eigen::Isometry3d toEigen(const urdf::Pose& _pose);
+  static Eigen::Vector3d toEigen(const urdf::Vector3& _vector);
+
+  static bool readFileToString(
+      const common::ResourceRetrieverPtr& _resourceRetriever,
+      const common::Uri& _uri,
+      std::string& _output);
+
+  Options mOptions;
+  common::LocalResourceRetrieverPtr mLocalRetriever;
+  utils::PackageResourceRetrieverPtr mPackageRetriever;
+  utils::CompositeResourceRetrieverPtr mRetriever;
+};
+
+} // namespace utils
+} // namespace dart
+
+#endif // DART_UTILS_URDF_DARTLOADER_HPP_

include/dart/utils/urdf/IncludeUrdf.hpp

@@ -0,0 +1,47 @@
+/*
+ * 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.
+ */
+
+#pragma once
+
+// clang-format off
+
+#include <dart/common/IncludeWindows.hpp>
+
+#include <cstdint>
+
+#include <urdf_model/model.h>
+#include <urdf_model/pose.h>
+#include <urdf_model/twist.h>
+#include <urdf_parser/urdf_parser.h>
+#include <urdf_world/world.h>
+
+// clang-format on

include/dart/utils/urdf/URDFTypes.hpp

@@ -0,0 +1,42 @@
+/*
+ * 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_URDFTYPES_HPP_
+#define DART_UTILS_URDF_URDFTYPES_HPP_
+
+#pragma message(                                                               \
+    "This header has been deprecated in DART 6.2. "                            \
+    "Please include dart/utils/urdf/BackwardCompatibility.hpp instead.")
+
+#include <dart/utils/urdf/BackwardCompatibility.hpp>
+
+#endif // DART_UTILS_URDF_URDFTYPES_HPP_

include/dart/utils/urdf/all.hpp

@@ -0,0 +1,5 @@
+// Automatically generated file by cmake
+
+#include "dart/utils/urdf/DartLoader.hpp"
+#include "dart/utils/urdf/IncludeUrdf.hpp"
+#include "dart/utils/urdf/urdf_world_parser.hpp"

include/dart/utils/urdf/urdf.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/urdf/all.hpp> instead of <dart/utils/urdf/urdf.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/utils/urdf/urdf.hpp is deprecated. Use dart/utils/urdf/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/utils/urdf/urdf.hpp is deprecated. Use dart/utils/urdf/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/utils/urdf/all.hpp"

include/dart/utils/urdf/urdf_world_parser.hpp

@@ -0,0 +1,83 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, Humanoid Robotics Lab.
+ *  All rights reserved.
+ *
+ *  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.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  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 OWNER 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.
+ *********************************************************************/
+
+/* Author: A. Huaman */
+/* @date 2013/06/20 */
+
+#pragma once
+
+#include <dart/utils/urdf/BackwardCompatibility.hpp>
+#include <dart/utils/urdf/IncludeUrdf.hpp>
+
+#include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
+
+#include <string>
+
+namespace dart {
+namespace utils {
+namespace urdf_parsing {
+
+/// We need a customized version of the Entity class, because we need to keep
+/// track of a Skeleton's uri in order to correctly handle relative file paths.
+class Entity
+{
+public:
+  Entity() = default;
+
+  /// Copy over a standard urdfEntity
+  Entity(const urdf::Entity& urdfEntity);
+
+  std::shared_ptr<urdf::ModelInterface> model;
+  urdf::Pose origin;
+  urdf::Twist twist;
+
+  dart::common::Uri uri;
+};
+
+class World
+{
+public:
+  std::string name;
+  std::vector<Entity> models;
+};
+
+std::shared_ptr<World> parseWorldURDF(
+    const std::string& xml_string,
+    const dart::common::Uri& _baseUri,
+    const common::ResourceRetrieverPtr& retriever);
+
+} // namespace urdf_parsing
+} // namespace utils
+} // namespace dart

include/dart/utils/utils.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/all.hpp> instead of <dart/utils/utils.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/utils/utils.hpp is deprecated. Use dart/utils/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/utils/utils.hpp is deprecated. Use dart/utils/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/utils/all.hpp"

lib64/pkgconfig/dart.pc

@@ -0,0 +1,12 @@
+# This file was generated by CMake for dart
+prefix=${pcfiledir}/../../
+exec_prefix=${prefix}
+libdir=${prefix}/lib64
+includedir=${prefix}/include/dart
+
+Name: dart
+Description: Dynamic Animation and Robotics Toolkit.
+Version: ..
+Requires: assimp, ccd, eigen3, fcl, octomap
+Libs: -L${libdir} -ldart
+Cflags: