dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Potentially problematic release.

This version of dartpy might be problematic. Click here for more details.

Files changed (994) hide show
  1. dartpy-7.0.0.dev0.dist-info/METADATA +86 -0
  2. dartpy-7.0.0.dev0.dist-info/RECORD +994 -0
  3. dartpy-7.0.0.dev0.dist-info/WHEEL +5 -0
  4. dartpy-7.0.0.dev0.dist-info/licenses/LICENSE +31 -0
  5. dartpy.cpython-312-x86_64-linux-gnu.so +0 -0
  6. dartpy.libs/libBulletCollision-f96eb02c.so.3.25 +0 -0
  7. dartpy.libs/libBulletDynamics-3cff1f18.so.3.25 +0 -0
  8. dartpy.libs/libBulletSoftBody-220f01bd.so.3.25 +0 -0
  9. dartpy.libs/libLinearMath-71568d02.so.3.25 +0 -0
  10. dartpy.libs/libOpenThreads-8bc434db.so.3.3.1 +0 -0
  11. dartpy.libs/libSDL2-2-3db87ac0.0.so.0.3200.56 +0 -0
  12. dartpy.libs/libassimp-44cf3e77.so.5.4.3 +0 -0
  13. dartpy.libs/libccd-4f119cf4.so.2.0 +0 -0
  14. dartpy.libs/libconsole_bridge-f26e11cc.so.1.0 +0 -0
  15. dartpy.libs/libfcl-2607815a.so.0.7.0 +0 -0
  16. dartpy.libs/libfmt-277170bf.so.11.2.0 +0 -0
  17. dartpy.libs/libfontconfig-559ff509.so.1.14.0 +0 -0
  18. dartpy.libs/libfreetype-64806fc6.so.6.20.4 +0 -0
  19. dartpy.libs/libglfw-6f066845.so.3.4 +0 -0
  20. dartpy.libs/libimgui-ab87b07d.so +0 -0
  21. dartpy.libs/libnlopt-78f9bc34.so.1.0.0 +0 -0
  22. dartpy.libs/liboctomap-38e56f99.so.1.10.0 +0 -0
  23. dartpy.libs/liboctomath-bff26442.so.1.10.0 +0 -0
  24. dartpy.libs/libode-caca20fc.so.8.2.0 +0 -0
  25. dartpy.libs/libosg-e67375e5.so.3.6.5 +0 -0
  26. dartpy.libs/libosgDB-22ae780f.so.3.6.5 +0 -0
  27. dartpy.libs/libosgGA-6af4078b.so.3.6.5 +0 -0
  28. dartpy.libs/libosgManipulator-3270f659.so.3.6.5 +0 -0
  29. dartpy.libs/libosgShadow-127a8d77.so.3.6.5 +0 -0
  30. dartpy.libs/libosgText-87d82d87.so.3.6.5 +0 -0
  31. dartpy.libs/libosgUtil-55896958.so.3.6.5 +0 -0
  32. dartpy.libs/libosgViewer-76d832e3.so.3.6.5 +0 -0
  33. dartpy.libs/libpng16-bd65464e.so.16.50.0 +0 -0
  34. dartpy.libs/libtinyxml2-8d10763c.so.11.0.0 +0 -0
  35. dartpy.libs/liburdfdom_model-7b26ae88.so.4.0 +0 -0
  36. dartpy.libs/liburdfdom_model_state-95a5ad6e.so.4.0 +0 -0
  37. dartpy.libs/liburdfdom_sensor-55a145ea.so.4.0 +0 -0
  38. dartpy.libs/liburdfdom_world-a32c7194.so.4.0 +0 -0
  39. dartpy.libs/libvulkan-8caf1954.so.1.4.328 +0 -0
  40. include/dart/collision/CollisionDetector.hpp +305 -0
  41. include/dart/collision/CollisionFilter.hpp +126 -0
  42. include/dart/collision/CollisionGroup.hpp +546 -0
  43. include/dart/collision/CollisionObject.hpp +90 -0
  44. include/dart/collision/CollisionOption.hpp +71 -0
  45. include/dart/collision/CollisionResult.hpp +109 -0
  46. include/dart/collision/Contact.hpp +103 -0
  47. include/dart/collision/DistanceFilter.hpp +66 -0
  48. include/dart/collision/DistanceOption.hpp +80 -0
  49. include/dart/collision/DistanceResult.hpp +123 -0
  50. include/dart/collision/Option.hpp +42 -0
  51. include/dart/collision/RaycastOption.hpp +58 -0
  52. include/dart/collision/RaycastResult.hpp +80 -0
  53. include/dart/collision/Result.hpp +42 -0
  54. include/dart/collision/SmartPointer.hpp +51 -0
  55. include/dart/collision/all.hpp +17 -0
  56. include/dart/collision/bullet/BulletCollisionDetector.hpp +168 -0
  57. include/dart/collision/bullet/BulletCollisionGroup.hpp +98 -0
  58. include/dart/collision/bullet/BulletCollisionObject.hpp +75 -0
  59. include/dart/collision/bullet/BulletCollisionShape.hpp +62 -0
  60. include/dart/collision/bullet/BulletInclude.hpp +47 -0
  61. include/dart/collision/bullet/BulletTypes.hpp +57 -0
  62. include/dart/collision/bullet/all.hpp +8 -0
  63. include/dart/collision/bullet/bullet.hpp +14 -0
  64. include/dart/collision/bullet/detail/BulletCollisionDispatcher.hpp +70 -0
  65. include/dart/collision/bullet/detail/BulletOverlapFilterCallback.hpp +72 -0
  66. include/dart/collision/collision.hpp +14 -0
  67. include/dart/collision/dart/DARTCollide.hpp +106 -0
  68. include/dart/collision/dart/DARTCollisionDetector.hpp +109 -0
  69. include/dart/collision/dart/DARTCollisionGroup.hpp +82 -0
  70. include/dart/collision/dart/DARTCollisionObject.hpp +63 -0
  71. include/dart/collision/dart/all.hpp +6 -0
  72. include/dart/collision/dart/dart.hpp +14 -0
  73. include/dart/collision/detail/CollisionDetector.hpp +66 -0
  74. include/dart/collision/detail/CollisionGroup.hpp +287 -0
  75. include/dart/collision/detail/Contact-impl.hpp +56 -0
  76. include/dart/collision/detail/UnorderedPairs.hpp +153 -0
  77. include/dart/collision/fcl/BackwardCompatibility.hpp +145 -0
  78. include/dart/collision/fcl/CollisionShapes.hpp +374 -0
  79. include/dart/collision/fcl/FCLCollisionDetector.hpp +204 -0
  80. include/dart/collision/fcl/FCLCollisionGroup.hpp +95 -0
  81. include/dart/collision/fcl/FCLCollisionObject.hpp +72 -0
  82. include/dart/collision/fcl/FCLTypes.hpp +62 -0
  83. include/dart/collision/fcl/TriTriIntersectionTest.hpp +17 -0
  84. include/dart/collision/fcl/all.hpp +9 -0
  85. include/dart/collision/fcl/fcl.hpp +14 -0
  86. include/dart/collision/fcl/tri_tri_intersection_test.hpp +332 -0
  87. include/dart/collision/ode/OdeCollisionDetector.hpp +131 -0
  88. include/dart/collision/ode/OdeCollisionGroup.hpp +87 -0
  89. include/dart/collision/ode/OdeCollisionObject.hpp +89 -0
  90. include/dart/collision/ode/OdeTypes.hpp +51 -0
  91. include/dart/collision/ode/all.hpp +6 -0
  92. include/dart/collision/ode/detail/OdeBox.hpp +58 -0
  93. include/dart/collision/ode/detail/OdeCapsule.hpp +58 -0
  94. include/dart/collision/ode/detail/OdeCylinder.hpp +58 -0
  95. include/dart/collision/ode/detail/OdeGeom.hpp +83 -0
  96. include/dart/collision/ode/detail/OdeHeightmap-impl.hpp +170 -0
  97. include/dart/collision/ode/detail/OdeHeightmap.hpp +70 -0
  98. include/dart/collision/ode/detail/OdeMesh.hpp +83 -0
  99. include/dart/collision/ode/detail/OdePlane.hpp +67 -0
  100. include/dart/collision/ode/detail/OdeSphere.hpp +58 -0
  101. include/dart/collision/ode/ode.hpp +14 -0
  102. include/dart/common/Aspect.hpp +215 -0
  103. include/dart/common/AspectWithVersion.hpp +180 -0
  104. include/dart/common/CAllocator.hpp +65 -0
  105. include/dart/common/Castable.hpp +102 -0
  106. include/dart/common/ClassWithVirtualBase.hpp +47 -0
  107. include/dart/common/Cloneable.hpp +327 -0
  108. include/dart/common/Composite.hpp +205 -0
  109. include/dart/common/CompositeJoiner.hpp +160 -0
  110. include/dart/common/Console.hpp +75 -0
  111. include/dart/common/Deprecated.hpp +126 -0
  112. include/dart/common/EmbeddedAspect.hpp +466 -0
  113. include/dart/common/Empty.hpp +55 -0
  114. include/dart/common/Factory.hpp +146 -0
  115. include/dart/common/Filesystem.hpp +112 -0
  116. include/dart/common/FreeListAllocator.hpp +162 -0
  117. include/dart/common/IncludeWindows.hpp +50 -0
  118. include/dart/common/LocalResource.hpp +76 -0
  119. include/dart/common/LocalResourceRetriever.hpp +63 -0
  120. include/dart/common/LockableReference.hpp +166 -0
  121. include/dart/common/Logging.hpp +146 -0
  122. include/dart/common/Macros.hpp +78 -0
  123. include/dart/common/Memory.hpp +215 -0
  124. include/dart/common/MemoryAllocator.hpp +120 -0
  125. include/dart/common/MemoryAllocatorDebugger.hpp +98 -0
  126. include/dart/common/MemoryManager.hpp +189 -0
  127. include/dart/common/Metaprogramming.hpp +68 -0
  128. include/dart/common/NameManager.hpp +184 -0
  129. include/dart/common/Observer.hpp +85 -0
  130. include/dart/common/Optional.hpp +48 -0
  131. include/dart/common/Platform.hpp +92 -0
  132. include/dart/common/PoolAllocator.hpp +141 -0
  133. include/dart/common/Profile.hpp +56 -0
  134. include/dart/common/ProxyAspect.hpp +93 -0
  135. include/dart/common/RequiresAspect.hpp +79 -0
  136. include/dart/common/Resource.hpp +96 -0
  137. include/dart/common/ResourceRetriever.hpp +82 -0
  138. include/dart/common/SharedLibrary.hpp +201 -0
  139. include/dart/common/Signal.hpp +250 -0
  140. include/dart/common/Singleton.hpp +85 -0
  141. include/dart/common/SmartPointer.hpp +63 -0
  142. include/dart/common/SpecializedForAspect.hpp +207 -0
  143. include/dart/common/StlAllocator.hpp +111 -0
  144. include/dart/common/StlHelpers.hpp +61 -0
  145. include/dart/common/Stopwatch.hpp +143 -0
  146. include/dart/common/String.hpp +71 -0
  147. include/dart/common/SubPtr.hpp +17 -0
  148. include/dart/common/Subject.hpp +84 -0
  149. include/dart/common/Timer.hpp +119 -0
  150. include/dart/common/Uri.hpp +229 -0
  151. include/dart/common/VersionCounter.hpp +68 -0
  152. include/dart/common/Virtual.hpp +51 -0
  153. include/dart/common/all.hpp +53 -0
  154. include/dart/common/common.hpp +14 -0
  155. include/dart/common/detail/Aspect.hpp +102 -0
  156. include/dart/common/detail/AspectWithVersion.hpp +455 -0
  157. include/dart/common/detail/Castable-impl.hpp +109 -0
  158. include/dart/common/detail/Cloneable.hpp +638 -0
  159. include/dart/common/detail/Composite.hpp +241 -0
  160. include/dart/common/detail/CompositeData.hpp +393 -0
  161. include/dart/common/detail/CompositeJoiner.hpp +128 -0
  162. include/dart/common/detail/ConnectionBody.hpp +157 -0
  163. include/dart/common/detail/EmbeddedAspect.hpp +487 -0
  164. include/dart/common/detail/Factory-impl.hpp +200 -0
  165. include/dart/common/detail/LockableReference-impl.hpp +156 -0
  166. include/dart/common/detail/Logging-impl.hpp +162 -0
  167. include/dart/common/detail/Memory-impl.hpp +66 -0
  168. include/dart/common/detail/MemoryAllocator-impl.hpp +97 -0
  169. include/dart/common/detail/MemoryAllocatorDebugger-impl.hpp +201 -0
  170. include/dart/common/detail/MemoryManager-impl.hpp +102 -0
  171. include/dart/common/detail/Metaprogramming-impl.hpp +89 -0
  172. include/dart/common/detail/NameManager.hpp +301 -0
  173. include/dart/common/detail/NoOp.hpp +57 -0
  174. include/dart/common/detail/ProxyAspect.hpp +172 -0
  175. include/dart/common/detail/RequiresAspect.hpp +51 -0
  176. include/dart/common/detail/SharedLibraryManager.hpp +106 -0
  177. include/dart/common/detail/Signal.hpp +242 -0
  178. include/dart/common/detail/Singleton-impl.hpp +74 -0
  179. include/dart/common/detail/SpecializedForAspect.hpp +331 -0
  180. include/dart/common/detail/StlAllocator-impl.hpp +108 -0
  181. include/dart/common/detail/Stopwatch-impl.hpp +242 -0
  182. include/dart/common/detail/SubPtr.hpp +17 -0
  183. include/dart/common/detail/TemplateJoinerDispatchMacro.hpp +59 -0
  184. include/dart/common/detail/sub_ptr.hpp +139 -0
  185. include/dart/common/sub_ptr.hpp +103 -0
  186. include/dart/config.hpp +100 -0
  187. include/dart/constraint/BalanceConstraint.hpp +202 -0
  188. include/dart/constraint/BallJointConstraint.hpp +142 -0
  189. include/dart/constraint/BoxedLcpConstraintSolver.hpp +182 -0
  190. include/dart/constraint/BoxedLcpSolver.hpp +101 -0
  191. include/dart/constraint/ConstrainedGroup.hpp +120 -0
  192. include/dart/constraint/ConstraintBase.hpp +141 -0
  193. include/dart/constraint/ConstraintSolver.hpp +325 -0
  194. include/dart/constraint/ContactConstraint.hpp +286 -0
  195. include/dart/constraint/ContactSurface.hpp +191 -0
  196. include/dart/constraint/DantzigBoxedLcpSolver.hpp +71 -0
  197. include/dart/constraint/DantzigLCPSolver.hpp +87 -0
  198. include/dart/constraint/DynamicJointConstraint.hpp +120 -0
  199. include/dart/constraint/JointConstraint.hpp +182 -0
  200. include/dart/constraint/JointCoulombFrictionConstraint.hpp +149 -0
  201. include/dart/constraint/JointLimitConstraint.hpp +185 -0
  202. include/dart/constraint/LCPSolver.hpp +71 -0
  203. include/dart/constraint/MimicMotorConstraint.hpp +164 -0
  204. include/dart/constraint/PGSLCPSolver.hpp +109 -0
  205. include/dart/constraint/PgsBoxedLcpSolver.hpp +106 -0
  206. include/dart/constraint/ServoMotorConstraint.hpp +151 -0
  207. include/dart/constraint/SmartPointer.hpp +69 -0
  208. include/dart/constraint/SoftContactConstraint.hpp +262 -0
  209. include/dart/constraint/WeldJointConstraint.hpp +133 -0
  210. include/dart/constraint/all.hpp +25 -0
  211. include/dart/constraint/constraint.hpp +14 -0
  212. include/dart/constraint/detail/ConstraintSolver-impl.hpp +78 -0
  213. include/dart/dart.hpp +44 -0
  214. include/dart/dynamics/ArrowShape.hpp +121 -0
  215. include/dart/dynamics/AssimpInputResourceAdaptor.hpp +129 -0
  216. include/dart/dynamics/BallJoint.hpp +143 -0
  217. include/dart/dynamics/BodyNode.hpp +1279 -0
  218. include/dart/dynamics/BoxShape.hpp +90 -0
  219. include/dart/dynamics/Branch.hpp +107 -0
  220. include/dart/dynamics/CapsuleShape.hpp +105 -0
  221. include/dart/dynamics/Chain.hpp +142 -0
  222. include/dart/dynamics/CompositeNode.hpp +114 -0
  223. include/dart/dynamics/ConeShape.hpp +107 -0
  224. include/dart/dynamics/CylinderShape.hpp +96 -0
  225. include/dart/dynamics/DegreeOfFreedom.hpp +415 -0
  226. include/dart/dynamics/EllipsoidShape.hpp +115 -0
  227. include/dart/dynamics/EndEffector.hpp +158 -0
  228. include/dart/dynamics/Entity.hpp +258 -0
  229. include/dart/dynamics/EntityNode.hpp +77 -0
  230. include/dart/dynamics/EulerJoint.hpp +174 -0
  231. include/dart/dynamics/FixedFrame.hpp +105 -0
  232. include/dart/dynamics/FixedJacobianNode.hpp +168 -0
  233. include/dart/dynamics/Frame.hpp +388 -0
  234. include/dart/dynamics/FreeJoint.hpp +369 -0
  235. include/dart/dynamics/GenericJoint.hpp +825 -0
  236. include/dart/dynamics/Group.hpp +270 -0
  237. include/dart/dynamics/HeightmapShape.hpp +195 -0
  238. include/dart/dynamics/HierarchicalIK.hpp +419 -0
  239. include/dart/dynamics/IkFast.hpp +277 -0
  240. include/dart/dynamics/Inertia.hpp +176 -0
  241. include/dart/dynamics/InvalidIndex.hpp +46 -0
  242. include/dart/dynamics/InverseKinematics.hpp +1401 -0
  243. include/dart/dynamics/JacobianNode.hpp +312 -0
  244. include/dart/dynamics/Joint.hpp +1128 -0
  245. include/dart/dynamics/LineSegmentShape.hpp +140 -0
  246. include/dart/dynamics/Linkage.hpp +246 -0
  247. include/dart/dynamics/Marker.hpp +126 -0
  248. include/dart/dynamics/MeshShape.hpp +225 -0
  249. include/dart/dynamics/MetaSkeleton.hpp +1034 -0
  250. include/dart/dynamics/MimicDofProperties.hpp +62 -0
  251. include/dart/dynamics/MultiSphereConvexHullShape.hpp +111 -0
  252. include/dart/dynamics/MultiSphereShape.hpp +42 -0
  253. include/dart/dynamics/Node.hpp +273 -0
  254. include/dart/dynamics/NodeManagerJoiner.hpp +190 -0
  255. include/dart/dynamics/PlanarJoint.hpp +161 -0
  256. include/dart/dynamics/PlaneShape.hpp +105 -0
  257. include/dart/dynamics/PointCloudShape.hpp +186 -0
  258. include/dart/dynamics/PointMass.hpp +709 -0
  259. include/dart/dynamics/PrismaticJoint.hpp +120 -0
  260. include/dart/dynamics/PyramidShape.hpp +122 -0
  261. include/dart/dynamics/ReferentialSkeleton.hpp +550 -0
  262. include/dart/dynamics/RevoluteJoint.hpp +120 -0
  263. include/dart/dynamics/ScrewJoint.hpp +126 -0
  264. include/dart/dynamics/Shape.hpp +231 -0
  265. include/dart/dynamics/ShapeFrame.hpp +291 -0
  266. include/dart/dynamics/ShapeNode.hpp +134 -0
  267. include/dart/dynamics/SharedLibraryIkFast.hpp +147 -0
  268. include/dart/dynamics/SimpleFrame.hpp +247 -0
  269. include/dart/dynamics/Skeleton.hpp +1350 -0
  270. include/dart/dynamics/SmartPointer.hpp +185 -0
  271. include/dart/dynamics/SoftBodyNode.hpp +472 -0
  272. include/dart/dynamics/SoftMeshShape.hpp +100 -0
  273. include/dart/dynamics/SpecializedNodeManager.hpp +230 -0
  274. include/dart/dynamics/SphereShape.hpp +89 -0
  275. include/dart/dynamics/TemplatedJacobianNode.hpp +128 -0
  276. include/dart/dynamics/TranslationalJoint.hpp +105 -0
  277. include/dart/dynamics/TranslationalJoint2D.hpp +156 -0
  278. include/dart/dynamics/UniversalJoint.hpp +128 -0
  279. include/dart/dynamics/VoxelGridShape.hpp +171 -0
  280. include/dart/dynamics/WeldJoint.hpp +116 -0
  281. include/dart/dynamics/ZeroDofJoint.hpp +562 -0
  282. include/dart/dynamics/all.hpp +69 -0
  283. include/dart/dynamics/detail/BasicNodeManager.hpp +539 -0
  284. include/dart/dynamics/detail/BodyNode.hpp +344 -0
  285. include/dart/dynamics/detail/BodyNodeAspect.hpp +177 -0
  286. include/dart/dynamics/detail/BodyNodePtr.hpp +351 -0
  287. include/dart/dynamics/detail/CompositeNode.hpp +93 -0
  288. include/dart/dynamics/detail/DegreeOfFreedomPtr.hpp +338 -0
  289. include/dart/dynamics/detail/EndEffectorAspect.hpp +106 -0
  290. include/dart/dynamics/detail/EntityNode.hpp +81 -0
  291. include/dart/dynamics/detail/EntityNodeAspect.hpp +101 -0
  292. include/dart/dynamics/detail/EulerJointAspect.hpp +93 -0
  293. include/dart/dynamics/detail/FixedFrameAspect.hpp +58 -0
  294. include/dart/dynamics/detail/FixedJacobianNode.hpp +55 -0
  295. include/dart/dynamics/detail/GenericJoint.hpp +2471 -0
  296. include/dart/dynamics/detail/GenericJointAspect.hpp +353 -0
  297. include/dart/dynamics/detail/HeightmapShape-impl.hpp +243 -0
  298. include/dart/dynamics/detail/InverseKinematics.hpp +83 -0
  299. include/dart/dynamics/detail/InverseKinematicsPtr.hpp +341 -0
  300. include/dart/dynamics/detail/JointAspect.hpp +161 -0
  301. include/dart/dynamics/detail/JointPtr.hpp +293 -0
  302. include/dart/dynamics/detail/MarkerAspect.hpp +68 -0
  303. include/dart/dynamics/detail/MetaSkeleton-impl.hpp +151 -0
  304. include/dart/dynamics/detail/Node.hpp +532 -0
  305. include/dart/dynamics/detail/NodeManagerJoiner.hpp +184 -0
  306. include/dart/dynamics/detail/NodePtr.hpp +259 -0
  307. include/dart/dynamics/detail/PlanarJointAspect.hpp +136 -0
  308. include/dart/dynamics/detail/PrismaticJointAspect.hpp +85 -0
  309. include/dart/dynamics/detail/RevoluteJointAspect.hpp +86 -0
  310. include/dart/dynamics/detail/ScrewJointAspect.hpp +90 -0
  311. include/dart/dynamics/detail/ShapeFrameAspect.hpp +169 -0
  312. include/dart/dynamics/detail/ShapeNode.hpp +51 -0
  313. include/dart/dynamics/detail/Skeleton.hpp +92 -0
  314. include/dart/dynamics/detail/SkeletonAspect.hpp +181 -0
  315. include/dart/dynamics/detail/SoftBodyNodeAspect.hpp +132 -0
  316. include/dart/dynamics/detail/SpecializedNodeManager.hpp +324 -0
  317. include/dart/dynamics/detail/TemplatedJacobianNode.hpp +294 -0
  318. include/dart/dynamics/detail/TranslationalJoint2DAspect.hpp +140 -0
  319. include/dart/dynamics/detail/UniversalJointAspect.hpp +86 -0
  320. include/dart/dynamics/dynamics.hpp +14 -0
  321. include/dart/dynamics/ikfast.h +345 -0
  322. include/dart/external/convhull_3d/convhull_3d.h +1878 -0
  323. include/dart/external/convhull_3d/safe_convhull_3d.h +53 -0
  324. include/dart/external/odelcpsolver/common.h +418 -0
  325. include/dart/external/odelcpsolver/error.h +62 -0
  326. include/dart/external/odelcpsolver/lcp.h +75 -0
  327. include/dart/external/odelcpsolver/matrix.h +277 -0
  328. include/dart/external/odelcpsolver/misc.h +82 -0
  329. include/dart/external/odelcpsolver/odeconfig.h +110 -0
  330. include/dart/gui/osg/DefaultEventHandler.hpp +237 -0
  331. include/dart/gui/osg/DragAndDrop.hpp +360 -0
  332. include/dart/gui/osg/GridVisual.hpp +218 -0
  333. include/dart/gui/osg/ImGuiHandler.hpp +113 -0
  334. include/dart/gui/osg/ImGuiViewer.hpp +83 -0
  335. include/dart/gui/osg/ImGuiWidget.hpp +91 -0
  336. include/dart/gui/osg/IncludeImGui.hpp +75 -0
  337. include/dart/gui/osg/InteractiveFrame.hpp +170 -0
  338. include/dart/gui/osg/MouseEventHandler.hpp +76 -0
  339. include/dart/gui/osg/RealTimeWorldNode.hpp +126 -0
  340. include/dart/gui/osg/ShapeFrameNode.hpp +117 -0
  341. include/dart/gui/osg/SupportPolygonVisual.hpp +202 -0
  342. include/dart/gui/osg/TrackballManipulator.hpp +97 -0
  343. include/dart/gui/osg/Utils.hpp +120 -0
  344. include/dart/gui/osg/Viewer.hpp +427 -0
  345. include/dart/gui/osg/WorldNode.hpp +211 -0
  346. include/dart/gui/osg/all.hpp +19 -0
  347. include/dart/gui/osg/detail/CameraModeCallback.hpp +82 -0
  348. include/dart/gui/osg/detail/Utils-impl.hpp +160 -0
  349. include/dart/gui/osg/osg.hpp +14 -0
  350. include/dart/gui/osg/render/BoxShapeNode.hpp +74 -0
  351. include/dart/gui/osg/render/CapsuleShapeNode.hpp +75 -0
  352. include/dart/gui/osg/render/ConeShapeNode.hpp +74 -0
  353. include/dart/gui/osg/render/CylinderShapeNode.hpp +75 -0
  354. include/dart/gui/osg/render/EllipsoidShapeNode.hpp +76 -0
  355. include/dart/gui/osg/render/HeightmapShapeNode.hpp +485 -0
  356. include/dart/gui/osg/render/LineSegmentShapeNode.hpp +75 -0
  357. include/dart/gui/osg/render/MeshShapeNode.hpp +86 -0
  358. include/dart/gui/osg/render/MultiSphereShapeNode.hpp +76 -0
  359. include/dart/gui/osg/render/PlaneShapeNode.hpp +75 -0
  360. include/dart/gui/osg/render/PointCloudShapeNode.hpp +85 -0
  361. include/dart/gui/osg/render/PyramidShapeNode.hpp +75 -0
  362. include/dart/gui/osg/render/ShapeNode.hpp +126 -0
  363. include/dart/gui/osg/render/SoftMeshShapeNode.hpp +75 -0
  364. include/dart/gui/osg/render/SphereShapeNode.hpp +76 -0
  365. include/dart/gui/osg/render/VoxelGridShapeNode.hpp +83 -0
  366. include/dart/gui/osg/render/WarningShapeNode.hpp +64 -0
  367. include/dart/gui/osg/render/all.hpp +19 -0
  368. include/dart/gui/osg/render/render.hpp +14 -0
  369. include/dart/integration/EulerIntegrator.hpp +64 -0
  370. include/dart/integration/Integrator.hpp +104 -0
  371. include/dart/integration/RK4Integrator.hpp +68 -0
  372. include/dart/integration/SemiImplicitEulerIntegrator.hpp +64 -0
  373. include/dart/integration/all.hpp +6 -0
  374. include/dart/integration/integration.hpp +14 -0
  375. include/dart/lcpsolver/Lemke.hpp +54 -0
  376. include/dart/lcpsolver/ODELCPSolver.hpp +88 -0
  377. include/dart/lcpsolver/all.hpp +4 -0
  378. include/dart/lcpsolver/lcpsolver.hpp +14 -0
  379. include/dart/math/ConfigurationSpace.hpp +144 -0
  380. include/dart/math/Constants.hpp +79 -0
  381. include/dart/math/Geometry.hpp +659 -0
  382. include/dart/math/Helpers.hpp +481 -0
  383. include/dart/math/Icosphere.hpp +106 -0
  384. include/dart/math/MathTypes.hpp +100 -0
  385. include/dart/math/Mesh.hpp +108 -0
  386. include/dart/math/Random.hpp +225 -0
  387. include/dart/math/TriMesh.hpp +121 -0
  388. include/dart/math/all.hpp +11 -0
  389. include/dart/math/detail/ConfigurationSpace.hpp +235 -0
  390. include/dart/math/detail/Geometry-impl.hpp +126 -0
  391. include/dart/math/detail/Icosphere-impl.hpp +214 -0
  392. include/dart/math/detail/Mesh-impl.hpp +151 -0
  393. include/dart/math/detail/Random-impl.hpp +353 -0
  394. include/dart/math/detail/TriMesh-impl.hpp +202 -0
  395. include/dart/math/math.hpp +14 -0
  396. include/dart/optimizer/Function.hpp +203 -0
  397. include/dart/optimizer/GenericMultiObjectiveProblem.hpp +174 -0
  398. include/dart/optimizer/GradientDescentSolver.hpp +240 -0
  399. include/dart/optimizer/MultiObjectiveProblem.hpp +168 -0
  400. include/dart/optimizer/MultiObjectiveSolver.hpp +168 -0
  401. include/dart/optimizer/Population.hpp +108 -0
  402. include/dart/optimizer/Problem.hpp +191 -0
  403. include/dart/optimizer/Solver.hpp +182 -0
  404. include/dart/optimizer/all.hpp +10 -0
  405. include/dart/optimizer/ipopt/BackwardCompatibility.hpp +43 -0
  406. include/dart/optimizer/ipopt/IpoptSolver.hpp +223 -0
  407. include/dart/optimizer/ipopt/all.hpp +4 -0
  408. include/dart/optimizer/ipopt/ipopt.hpp +14 -0
  409. include/dart/optimizer/nlopt/NloptSolver.hpp +212 -0
  410. include/dart/optimizer/nlopt/all.hpp +3 -0
  411. include/dart/optimizer/nlopt/nlopt.hpp +14 -0
  412. include/dart/optimizer/optimizer.hpp +14 -0
  413. include/dart/simulation/Recording.hpp +118 -0
  414. include/dart/simulation/SmartPointer.hpp +46 -0
  415. include/dart/simulation/World.hpp +405 -0
  416. include/dart/simulation/all.hpp +5 -0
  417. include/dart/simulation/detail/World-impl.hpp +129 -0
  418. include/dart/simulation/simulation.hpp +14 -0
  419. include/dart/utils/C3D.hpp +107 -0
  420. include/dart/utils/CompositeResourceRetriever.hpp +97 -0
  421. include/dart/utils/DartResourceRetriever.hpp +104 -0
  422. include/dart/utils/FileInfoC3D.hpp +91 -0
  423. include/dart/utils/FileInfoDof.hpp +109 -0
  424. include/dart/utils/FileInfoWorld.hpp +75 -0
  425. include/dart/utils/PackageResourceRetriever.hpp +118 -0
  426. include/dart/utils/SkelParser.hpp +70 -0
  427. include/dart/utils/VskParser.hpp +108 -0
  428. include/dart/utils/XmlHelpers.hpp +243 -0
  429. include/dart/utils/all.hpp +14 -0
  430. include/dart/utils/detail/XmlHelpers-impl.hpp +213 -0
  431. include/dart/utils/mjcf/MjcfParser.hpp +80 -0
  432. include/dart/utils/mjcf/all.hpp +3 -0
  433. include/dart/utils/mjcf/mjcf.hpp +14 -0
  434. include/dart/utils/sdf/SdfParser.hpp +98 -0
  435. include/dart/utils/sdf/all.hpp +3 -0
  436. include/dart/utils/sdf/sdf.hpp +14 -0
  437. include/dart/utils/urdf/BackwardCompatibility.hpp +52 -0
  438. include/dart/utils/urdf/DartLoader.hpp +277 -0
  439. include/dart/utils/urdf/IncludeUrdf.hpp +47 -0
  440. include/dart/utils/urdf/URDFTypes.hpp +42 -0
  441. include/dart/utils/urdf/all.hpp +5 -0
  442. include/dart/utils/urdf/urdf.hpp +14 -0
  443. include/dart/utils/urdf/urdf_world_parser.hpp +83 -0
  444. include/dart/utils/utils.hpp +14 -0
  445. lib64/libdart-collision-bullet.a +0 -0
  446. lib64/libdart-collision-ode.a +0 -0
  447. lib64/libdart-external-odelcpsolver.a +0 -0
  448. lib64/libdart-gui-osg.a +0 -0
  449. lib64/libdart-optimizer-ipopt.a +0 -0
  450. lib64/libdart-optimizer-nlopt.a +0 -0
  451. lib64/libdart-utils-urdf.a +0 -0
  452. lib64/libdart-utils.a +0 -0
  453. lib64/libdart.a +0 -0
  454. lib64/pkgconfig/dart.pc +12 -0
  455. share/dart/cmake/DARTConfig.cmake +194 -0
  456. share/dart/cmake/DARTConfigVersion.cmake +65 -0
  457. share/dart/cmake/DARTFindBullet.cmake +96 -0
  458. share/dart/cmake/DARTFindEigen3.cmake +9 -0
  459. share/dart/cmake/DARTFindIPOPT.cmake +20 -0
  460. share/dart/cmake/DARTFindNLOPT.cmake +17 -0
  461. share/dart/cmake/DARTFindODE.cmake +23 -0
  462. share/dart/cmake/DARTFindOpenSceneGraph.cmake +69 -0
  463. share/dart/cmake/DARTFindassimp.cmake +18 -0
  464. share/dart/cmake/DARTFindfcl.cmake +23 -0
  465. share/dart/cmake/DARTFindfmt.cmake +9 -0
  466. share/dart/cmake/DARTFindimgui.cmake +21 -0
  467. share/dart/cmake/DARTFindoctomap.cmake +17 -0
  468. share/dart/cmake/DARTFindspdlog.cmake +9 -0
  469. share/dart/cmake/DARTFindtinyxml2.cmake +27 -0
  470. share/dart/cmake/DARTFindurdfdom.cmake +29 -0
  471. share/dart/cmake/FindIPOPT.cmake +54 -0
  472. share/dart/cmake/FindNLOPT.cmake +54 -0
  473. share/dart/cmake/FindODE.cmake +54 -0
  474. share/dart/cmake/Findassimp.cmake +56 -0
  475. share/dart/cmake/Findfcl.cmake +67 -0
  476. share/dart/cmake/Findimgui.cmake +70 -0
  477. share/dart/cmake/Findtinyxml2.cmake +54 -0
  478. share/dart/cmake/dart_collision-bulletComponent.cmake +19 -0
  479. share/dart/cmake/dart_collision-bulletTargets-release.cmake +19 -0
  480. share/dart/cmake/dart_collision-bulletTargets.cmake +122 -0
  481. share/dart/cmake/dart_collision-odeComponent.cmake +19 -0
  482. share/dart/cmake/dart_collision-odeTargets-release.cmake +19 -0
  483. share/dart/cmake/dart_collision-odeTargets.cmake +122 -0
  484. share/dart/cmake/dart_dartComponent.cmake +19 -0
  485. share/dart/cmake/dart_dartTargets-release.cmake +19 -0
  486. share/dart/cmake/dart_dartTargets.cmake +125 -0
  487. share/dart/cmake/dart_external-odelcpsolverComponent.cmake +19 -0
  488. share/dart/cmake/dart_external-odelcpsolverTargets-release.cmake +19 -0
  489. share/dart/cmake/dart_external-odelcpsolverTargets.cmake +106 -0
  490. share/dart/cmake/dart_gui-osgComponent.cmake +19 -0
  491. share/dart/cmake/dart_gui-osgTargets-release.cmake +19 -0
  492. share/dart/cmake/dart_gui-osgTargets.cmake +122 -0
  493. share/dart/cmake/dart_optimizer-ipoptComponent.cmake +19 -0
  494. share/dart/cmake/dart_optimizer-ipoptTargets-release.cmake +19 -0
  495. share/dart/cmake/dart_optimizer-ipoptTargets.cmake +123 -0
  496. share/dart/cmake/dart_optimizer-nloptComponent.cmake +19 -0
  497. share/dart/cmake/dart_optimizer-nloptTargets-release.cmake +19 -0
  498. share/dart/cmake/dart_optimizer-nloptTargets.cmake +123 -0
  499. share/dart/cmake/dart_utils-urdfComponent.cmake +19 -0
  500. share/dart/cmake/dart_utils-urdfTargets-release.cmake +19 -0
  501. share/dart/cmake/dart_utils-urdfTargets.cmake +122 -0
  502. share/dart/cmake/dart_utilsComponent.cmake +19 -0
  503. share/dart/cmake/dart_utilsTargets-release.cmake +19 -0
  504. share/dart/cmake/dart_utilsTargets.cmake +122 -0
  505. share/dart/package.xml +42 -0
  506. share/doc/dart/data/c3d/nick_freeform_001.c3d +0 -0
  507. share/doc/dart/data/c3d/squat.c3d +0 -0
  508. share/doc/dart/data/dof/RHand.dof +205 -0
  509. share/doc/dart/data/dof/fixedHand.dof +205 -0
  510. share/doc/dart/data/dof/init_Tpose.dof +240 -0
  511. share/doc/dart/data/dof/same.dof +1003 -0
  512. share/doc/dart/data/dof/simMotion.dof +1817 -0
  513. share/doc/dart/data/dof/simMotion1.dof +1355 -0
  514. share/doc/dart/data/etc/fort.4 +43 -0
  515. share/doc/dart/data/humanJointLimits/neuralnets/net-larm +0 -0
  516. share/doc/dart/data/humanJointLimits/neuralnets/net-lleg +0 -0
  517. share/doc/dart/data/mjcf/openai/LICENSE.md +36 -0
  518. share/doc/dart/data/mjcf/openai/ant.xml +81 -0
  519. share/doc/dart/data/mjcf/openai/half_cheetah.xml +96 -0
  520. share/doc/dart/data/mjcf/openai/hopper.xml +50 -0
  521. share/doc/dart/data/mjcf/openai/humanoid.xml +121 -0
  522. share/doc/dart/data/mjcf/openai/humanoidstandup.xml +121 -0
  523. share/doc/dart/data/mjcf/openai/inverted_double_pendulum.xml +47 -0
  524. share/doc/dart/data/mjcf/openai/inverted_pendulum.xml +27 -0
  525. share/doc/dart/data/mjcf/openai/point.xml +31 -0
  526. share/doc/dart/data/mjcf/openai/pusher.xml +91 -0
  527. share/doc/dart/data/mjcf/openai/reacher.xml +39 -0
  528. share/doc/dart/data/mjcf/openai/robotics/fetch/pick_and_place.xml +35 -0
  529. share/doc/dart/data/mjcf/openai/robotics/fetch/push.xml +32 -0
  530. share/doc/dart/data/mjcf/openai/robotics/fetch/reach.xml +26 -0
  531. share/doc/dart/data/mjcf/openai/robotics/fetch/robot.xml +123 -0
  532. share/doc/dart/data/mjcf/openai/robotics/fetch/shared.xml +66 -0
  533. share/doc/dart/data/mjcf/openai/robotics/fetch/slide.xml +32 -0
  534. share/doc/dart/data/mjcf/openai/robotics/stls/.get +0 -0
  535. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/base_link_collision.stl +0 -0
  536. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/bellows_link_collision.stl +0 -0
  537. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/elbow_flex_link_collision.stl +0 -0
  538. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/estop_link.stl +0 -0
  539. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/forearm_roll_link_collision.stl +0 -0
  540. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/gripper_link.stl +0 -0
  541. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/head_pan_link_collision.stl +0 -0
  542. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/head_tilt_link_collision.stl +0 -0
  543. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/l_wheel_link_collision.stl +0 -0
  544. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/laser_link.stl +0 -0
  545. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/r_wheel_link_collision.stl +0 -0
  546. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/shoulder_lift_link_collision.stl +0 -0
  547. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/shoulder_pan_link_collision.stl +0 -0
  548. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/torso_fixed_link.stl +0 -0
  549. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/torso_lift_link_collision.stl +0 -0
  550. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/upperarm_roll_link_collision.stl +0 -0
  551. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/wrist_flex_link_collision.stl +0 -0
  552. share/doc/dart/data/mjcf/openai/robotics/stls/fetch/wrist_roll_link_collision.stl +0 -0
  553. share/doc/dart/data/mjcf/openai/robotics/textures/block.png +0 -0
  554. share/doc/dart/data/mjcf/openai/robotics/textures/block_hidden.png +0 -0
  555. share/doc/dart/data/mjcf/openai/striker.xml +101 -0
  556. share/doc/dart/data/mjcf/openai/swimmer.xml +39 -0
  557. share/doc/dart/data/mjcf/openai/thrower.xml +127 -0
  558. share/doc/dart/data/mjcf/openai/walker2d.xml +62 -0
  559. share/doc/dart/data/mjcf/test/default.xml +17 -0
  560. share/doc/dart/data/mjcf/test/include_default.xml +8 -0
  561. share/doc/dart/data/mjcf/test/include_main.xml +12 -0
  562. share/doc/dart/data/obj/Body_Hip.obj +22830 -0
  563. share/doc/dart/data/obj/BoxSmall.obj +23 -0
  564. share/doc/dart/data/obj/foot.obj +10970 -0
  565. share/doc/dart/data/other/torus1.path +11991 -0
  566. share/doc/dart/data/other/torus1.tris +5329 -0
  567. share/doc/dart/data/other/torus2.path +11991 -0
  568. share/doc/dart/data/other/torus2.tris +12961 -0
  569. share/doc/dart/data/screencap/.KEEP +0 -0
  570. share/doc/dart/data/sdf/atlas/atlas_v3.urdf +914 -0
  571. share/doc/dart/data/sdf/atlas/atlas_v3_no_head.sdf +1541 -0
  572. share/doc/dart/data/sdf/atlas/atlas_v3_no_head.urdf +914 -0
  573. share/doc/dart/data/sdf/atlas/atlas_v3_no_head_soft_feet.sdf +1567 -0
  574. share/doc/dart/data/sdf/atlas/ground.urdf +28 -0
  575. share/doc/dart/data/sdf/atlas/head.dae +8607 -0
  576. share/doc/dart/data/sdf/atlas/head.stl +0 -0
  577. share/doc/dart/data/sdf/atlas/head_camera.dae +2326 -0
  578. share/doc/dart/data/sdf/atlas/head_camera.stl +0 -0
  579. share/doc/dart/data/sdf/atlas/l_clav.dae +1278 -0
  580. share/doc/dart/data/sdf/atlas/l_clav.stl +0 -0
  581. share/doc/dart/data/sdf/atlas/l_farm.dae +1204 -0
  582. share/doc/dart/data/sdf/atlas/l_farm.stl +0 -0
  583. share/doc/dart/data/sdf/atlas/l_foot.dae +1330 -0
  584. share/doc/dart/data/sdf/atlas/l_foot.stl +0 -0
  585. share/doc/dart/data/sdf/atlas/l_hand.dae +964 -0
  586. share/doc/dart/data/sdf/atlas/l_hand.stl +0 -0
  587. share/doc/dart/data/sdf/atlas/l_larm.dae +1378 -0
  588. share/doc/dart/data/sdf/atlas/l_larm.stl +0 -0
  589. share/doc/dart/data/sdf/atlas/l_lglut.dae +897 -0
  590. share/doc/dart/data/sdf/atlas/l_lglut.stl +0 -0
  591. share/doc/dart/data/sdf/atlas/l_lleg.dae +6660 -0
  592. share/doc/dart/data/sdf/atlas/l_lleg.stl +0 -0
  593. share/doc/dart/data/sdf/atlas/l_scap.dae +1531 -0
  594. share/doc/dart/data/sdf/atlas/l_scap.stl +0 -0
  595. share/doc/dart/data/sdf/atlas/l_talus.dae +374 -0
  596. share/doc/dart/data/sdf/atlas/l_talus.stl +0 -0
  597. share/doc/dart/data/sdf/atlas/l_uarm.dae +1204 -0
  598. share/doc/dart/data/sdf/atlas/l_uarm.stl +0 -0
  599. share/doc/dart/data/sdf/atlas/l_uglut.dae +398 -0
  600. share/doc/dart/data/sdf/atlas/l_uglut.stl +0 -0
  601. share/doc/dart/data/sdf/atlas/l_uleg.dae +9087 -0
  602. share/doc/dart/data/sdf/atlas/l_uleg.stl +0 -0
  603. share/doc/dart/data/sdf/atlas/ltorso.dae +614 -0
  604. share/doc/dart/data/sdf/atlas/ltorso.stl +0 -0
  605. share/doc/dart/data/sdf/atlas/mtorso.dae +266 -0
  606. share/doc/dart/data/sdf/atlas/mtorso.stl +0 -0
  607. share/doc/dart/data/sdf/atlas/pelvis.dae +8727 -0
  608. share/doc/dart/data/sdf/atlas/pelvis.stl +0 -0
  609. share/doc/dart/data/sdf/atlas/r_clav.dae +1278 -0
  610. share/doc/dart/data/sdf/atlas/r_clav.stl +0 -0
  611. share/doc/dart/data/sdf/atlas/r_farm.dae +1204 -0
  612. share/doc/dart/data/sdf/atlas/r_farm.stl +0 -0
  613. share/doc/dart/data/sdf/atlas/r_foot.dae +1330 -0
  614. share/doc/dart/data/sdf/atlas/r_foot.stl +0 -0
  615. share/doc/dart/data/sdf/atlas/r_hand.dae +904 -0
  616. share/doc/dart/data/sdf/atlas/r_hand.stl +0 -0
  617. share/doc/dart/data/sdf/atlas/r_larm.dae +1378 -0
  618. share/doc/dart/data/sdf/atlas/r_larm.stl +0 -0
  619. share/doc/dart/data/sdf/atlas/r_lglut.dae +897 -0
  620. share/doc/dart/data/sdf/atlas/r_lglut.stl +0 -0
  621. share/doc/dart/data/sdf/atlas/r_lleg.dae +6661 -0
  622. share/doc/dart/data/sdf/atlas/r_lleg.stl +0 -0
  623. share/doc/dart/data/sdf/atlas/r_scap.dae +1531 -0
  624. share/doc/dart/data/sdf/atlas/r_scap.stl +0 -0
  625. share/doc/dart/data/sdf/atlas/r_talus.dae +374 -0
  626. share/doc/dart/data/sdf/atlas/r_talus.stl +0 -0
  627. share/doc/dart/data/sdf/atlas/r_uarm.dae +1144 -0
  628. share/doc/dart/data/sdf/atlas/r_uarm.stl +0 -0
  629. share/doc/dart/data/sdf/atlas/r_uglut.dae +398 -0
  630. share/doc/dart/data/sdf/atlas/r_uglut.stl +0 -0
  631. share/doc/dart/data/sdf/atlas/r_uleg.dae +9087 -0
  632. share/doc/dart/data/sdf/atlas/r_uleg.stl +0 -0
  633. share/doc/dart/data/sdf/atlas/utorso.dae +28342 -0
  634. share/doc/dart/data/sdf/atlas/utorso.stl +0 -0
  635. share/doc/dart/data/sdf/atlas/utorso_mod.dae +16508 -0
  636. share/doc/dart/data/sdf/atlas/utorso_mod.stl +0 -0
  637. share/doc/dart/data/sdf/atlas/utorso_pack.dae +8521 -0
  638. share/doc/dart/data/sdf/atlas/utorso_pack.stl +0 -0
  639. share/doc/dart/data/sdf/benchmark.world +2510 -0
  640. share/doc/dart/data/sdf/double_pendulum.world +168 -0
  641. share/doc/dart/data/sdf/double_pendulum_with_base.world +263 -0
  642. share/doc/dart/data/sdf/empty.world +13 -0
  643. share/doc/dart/data/sdf/ground.world +48 -0
  644. share/doc/dart/data/sdf/materials/textures/atlas_cage_and_camera_diffuse_flat.jpg +0 -0
  645. share/doc/dart/data/sdf/materials/textures/drc_extremities_diffuse.jpg +0 -0
  646. share/doc/dart/data/sdf/materials/textures/drc_labels_1.jpg +0 -0
  647. share/doc/dart/data/sdf/materials/textures/drc_torso_head_diffuse.jpg +0 -0
  648. share/doc/dart/data/sdf/materials/textures/extremities_diffuse_unplugged.jpg +0 -0
  649. share/doc/dart/data/sdf/materials/textures/right_leg_diffuse_unplugged.jpg +0 -0
  650. share/doc/dart/data/sdf/materials/textures/torso_diffuse_unplugged.jpg +0 -0
  651. share/doc/dart/data/sdf/quad.sdf +867 -0
  652. share/doc/dart/data/sdf/test/force_torque_test.world +173 -0
  653. share/doc/dart/data/sdf/test/force_torque_test2.world +214 -0
  654. share/doc/dart/data/sdf/test/issue1193_revolute_test.sdf +70 -0
  655. share/doc/dart/data/sdf/test/issue1193_revolute_with_offset_test.sdf +70 -0
  656. share/doc/dart/data/sdf/test/issue1624_cubes.sdf +5037 -0
  657. share/doc/dart/data/sdf/test/single_bodynode_skeleton.world +55 -0
  658. share/doc/dart/data/sdf/test/test_issue1583.model +45 -0
  659. share/doc/dart/data/sdf/test/test_issue1596.model +182 -0
  660. share/doc/dart/data/sdf/test/test_skeleton_joint.world +278 -0
  661. share/doc/dart/data/skel/biped.skel +850 -0
  662. share/doc/dart/data/skel/bullet_collision.skel +174 -0
  663. share/doc/dart/data/skel/chain.skel +212 -0
  664. share/doc/dart/data/skel/cube.skel +71 -0
  665. share/doc/dart/data/skel/cubes.skel +137 -0
  666. share/doc/dart/data/skel/empty.skel +10 -0
  667. share/doc/dart/data/skel/freeChain.skel +212 -0
  668. share/doc/dart/data/skel/fullbody1.skel +1177 -0
  669. share/doc/dart/data/skel/ground.skel +31 -0
  670. share/doc/dart/data/skel/joint_limit.skel +123 -0
  671. share/doc/dart/data/skel/kima/abdomen.dae +18933 -0
  672. share/doc/dart/data/skel/kima/head.dae +34634 -0
  673. share/doc/dart/data/skel/kima/kima_human_edited.skel +933 -0
  674. share/doc/dart/data/skel/kima/kima_human_left_arm.skel +323 -0
  675. share/doc/dart/data/skel/kima/kima_human_left_leg.skel +327 -0
  676. share/doc/dart/data/skel/kima/l-clavicle.dae +20111 -0
  677. share/doc/dart/data/skel/kima/l-foot.dae +28208 -0
  678. share/doc/dart/data/skel/kima/pelvis.dae +35919 -0
  679. share/doc/dart/data/skel/kima/r-clavicle.dae +20090 -0
  680. share/doc/dart/data/skel/kima/thorax.dae +47337 -0
  681. share/doc/dart/data/skel/mesh_collision.skel +137 -0
  682. share/doc/dart/data/skel/shapes.skel +378 -0
  683. share/doc/dart/data/skel/skateboard.skel +222 -0
  684. share/doc/dart/data/skel/softBodies.skel +284 -0
  685. share/doc/dart/data/skel/soft_cubes.skel +134 -0
  686. share/doc/dart/data/skel/soft_open_chain.skel +241 -0
  687. share/doc/dart/data/skel/sphere.skel +74 -0
  688. share/doc/dart/data/skel/spheres.skel +118 -0
  689. share/doc/dart/data/skel/test/SimplePendulum.skel +141 -0
  690. share/doc/dart/data/skel/test/ball_joints.skel +49 -0
  691. share/doc/dart/data/skel/test/box_stacking.skel +346 -0
  692. share/doc/dart/data/skel/test/boxes.skel +52 -0
  693. share/doc/dart/data/skel/test/chainwhipa.skel +193 -0
  694. share/doc/dart/data/skel/test/collision_of_prescribed_joints_test.skel +249 -0
  695. share/doc/dart/data/skel/test/dof_attribute_test.skel +206 -0
  696. share/doc/dart/data/skel/test/double_pendulum.skel +76 -0
  697. share/doc/dart/data/skel/test/double_pendulum_ball_joint.skel +76 -0
  698. share/doc/dart/data/skel/test/double_pendulum_euler_joint.skel +78 -0
  699. share/doc/dart/data/skel/test/double_pendulum_with_base.skel +1390 -0
  700. share/doc/dart/data/skel/test/drop.skel +116 -0
  701. share/doc/dart/data/skel/test/drop_BENCHMARK.skel +10 -0
  702. share/doc/dart/data/skel/test/drop_unrotated_box.skel +156 -0
  703. share/doc/dart/data/skel/test/empty.skel +10 -0
  704. share/doc/dart/data/skel/test/file_info_world_test.skel +1177 -0
  705. share/doc/dart/data/skel/test/free_joints.skel +49 -0
  706. share/doc/dart/data/skel/test/gazebo/drop_test.skel +161 -0
  707. share/doc/dart/data/skel/test/gazebo/force_torque_test.skel +138 -0
  708. share/doc/dart/data/skel/test/gazebo/force_torque_test2.skel +171 -0
  709. share/doc/dart/data/skel/test/hybrid_dynamics_test.skel +172 -0
  710. share/doc/dart/data/skel/test/joint_actuator_type_test.skel +185 -0
  711. share/doc/dart/data/skel/test/joint_dynamics_elements_test.skel +103 -0
  712. share/doc/dart/data/skel/test/joint_friction_test.skel +80 -0
  713. share/doc/dart/data/skel/test/joint_limit_test.skel +80 -0
  714. share/doc/dart/data/skel/test/planar_joint.skel +167 -0
  715. share/doc/dart/data/skel/test/serial_chain_BENCHMARK.skel +10 -0
  716. share/doc/dart/data/skel/test/serial_chain_ball_joint.skel +212 -0
  717. share/doc/dart/data/skel/test/serial_chain_ball_joint_20.skel +412 -0
  718. share/doc/dart/data/skel/test/serial_chain_ball_joint_40.skel +812 -0
  719. share/doc/dart/data/skel/test/serial_chain_eulerxyz_joint.skel +224 -0
  720. share/doc/dart/data/skel/test/serial_chain_revolute_joint.skel +244 -0
  721. share/doc/dart/data/skel/test/simple_tree_structure.skel +108 -0
  722. share/doc/dart/data/skel/test/simple_tree_structure_ball_joint.skel +108 -0
  723. share/doc/dart/data/skel/test/simple_tree_structure_euler_joint.skel +111 -0
  724. share/doc/dart/data/skel/test/single_pendulum.skel +55 -0
  725. share/doc/dart/data/skel/test/single_pendulum_ball_joint.skel +55 -0
  726. share/doc/dart/data/skel/test/single_pendulum_euler_joint.skel +56 -0
  727. share/doc/dart/data/skel/test/spheres.skel +118 -0
  728. share/doc/dart/data/skel/test/test_adaptive_deformable.skel +88 -0
  729. share/doc/dart/data/skel/test/test_articulated_bodies.skel +112 -0
  730. share/doc/dart/data/skel/test/test_articulated_bodies_10bodies.skel +401 -0
  731. share/doc/dart/data/skel/test/test_double_pendulum.skel +105 -0
  732. share/doc/dart/data/skel/test/test_drop_box.skel +87 -0
  733. share/doc/dart/data/skel/test/test_drop_box_offset.skel +87 -0
  734. share/doc/dart/data/skel/test/test_drop_low_stiffness.skel +86 -0
  735. share/doc/dart/data/skel/test/test_drop_sphere.skel +86 -0
  736. share/doc/dart/data/skel/test/test_shapes.skel +324 -0
  737. share/doc/dart/data/skel/test/test_single_body.skel +55 -0
  738. share/doc/dart/data/skel/test/test_single_pendulum.skel +55 -0
  739. share/doc/dart/data/skel/test/translational_joints.skel +49 -0
  740. share/doc/dart/data/skel/test/tree_structure.skel +428 -0
  741. share/doc/dart/data/skel/test/tree_structure_ball_joint.skel +441 -0
  742. share/doc/dart/data/skel/test/tree_structure_euler_joint.skel +441 -0
  743. share/doc/dart/data/skel/two_cubes.skel +118 -0
  744. share/doc/dart/data/skel/vehicle.skel +322 -0
  745. share/doc/dart/data/test/hello_world.txt +1 -0
  746. share/doc/dart/data/urdf/KR5/KR5 sixx R650.urdf +397 -0
  747. share/doc/dart/data/urdf/KR5/ground.urdf +28 -0
  748. share/doc/dart/data/urdf/KR5/meshes/base_link.STL +0 -0
  749. share/doc/dart/data/urdf/KR5/meshes/bicep.STL +0 -0
  750. share/doc/dart/data/urdf/KR5/meshes/elbow.STL +0 -0
  751. share/doc/dart/data/urdf/KR5/meshes/forearm.STL +0 -0
  752. share/doc/dart/data/urdf/KR5/meshes/palm.STL +0 -0
  753. share/doc/dart/data/urdf/KR5/meshes/shoulder.STL +0 -0
  754. share/doc/dart/data/urdf/KR5/meshes/wrist.STL +0 -0
  755. share/doc/dart/data/urdf/drchubo/CMakeLists.txt +5 -0
  756. share/doc/dart/data/urdf/drchubo/drchubo.urdf +1508 -0
  757. share/doc/dart/data/urdf/drchubo/meshes/convhull_LAP_merged.stl +0 -0
  758. share/doc/dart/data/urdf/drchubo/meshes/convhull_LAR_merged.stl +0 -0
  759. share/doc/dart/data/urdf/drchubo/meshes/convhull_LEP_merged.stl +0 -0
  760. share/doc/dart/data/urdf/drchubo/meshes/convhull_LF1.stl +0 -0
  761. share/doc/dart/data/urdf/drchubo/meshes/convhull_LF2.stl +0 -0
  762. share/doc/dart/data/urdf/drchubo/meshes/convhull_LF3.stl +0 -0
  763. share/doc/dart/data/urdf/drchubo/meshes/convhull_LHP_merged.stl +0 -0
  764. share/doc/dart/data/urdf/drchubo/meshes/convhull_LHR_merged.stl +0 -0
  765. share/doc/dart/data/urdf/drchubo/meshes/convhull_LHY_merged.stl +0 -0
  766. share/doc/dart/data/urdf/drchubo/meshes/convhull_LKP_merged.stl +0 -0
  767. share/doc/dart/data/urdf/drchubo/meshes/convhull_LSP_merged.stl +0 -0
  768. share/doc/dart/data/urdf/drchubo/meshes/convhull_LSR_merged.stl +0 -0
  769. share/doc/dart/data/urdf/drchubo/meshes/convhull_LSY_merged.stl +0 -0
  770. share/doc/dart/data/urdf/drchubo/meshes/convhull_LWP_merged.stl +0 -0
  771. share/doc/dart/data/urdf/drchubo/meshes/convhull_LWR_merged.stl +0 -0
  772. share/doc/dart/data/urdf/drchubo/meshes/convhull_LWY_merged.stl +0 -0
  773. share/doc/dart/data/urdf/drchubo/meshes/convhull_NK1_merged.stl +0 -0
  774. share/doc/dart/data/urdf/drchubo/meshes/convhull_NK2.stl +0 -0
  775. share/doc/dart/data/urdf/drchubo/meshes/convhull_NKY_merged.stl +0 -0
  776. share/doc/dart/data/urdf/drchubo/meshes/convhull_RAP_merged.stl +0 -0
  777. share/doc/dart/data/urdf/drchubo/meshes/convhull_RAR_merged.stl +0 -0
  778. share/doc/dart/data/urdf/drchubo/meshes/convhull_REP_merged.stl +0 -0
  779. share/doc/dart/data/urdf/drchubo/meshes/convhull_RF1.stl +0 -0
  780. share/doc/dart/data/urdf/drchubo/meshes/convhull_RF2.stl +0 -0
  781. share/doc/dart/data/urdf/drchubo/meshes/convhull_RF3.stl +0 -0
  782. share/doc/dart/data/urdf/drchubo/meshes/convhull_RHP_merged.stl +0 -0
  783. share/doc/dart/data/urdf/drchubo/meshes/convhull_RHR_merged.stl +0 -0
  784. share/doc/dart/data/urdf/drchubo/meshes/convhull_RHY_merged.stl +0 -0
  785. share/doc/dart/data/urdf/drchubo/meshes/convhull_RKP_merged.stl +0 -0
  786. share/doc/dart/data/urdf/drchubo/meshes/convhull_RSP_merged.stl +0 -0
  787. share/doc/dart/data/urdf/drchubo/meshes/convhull_RSR_merged.stl +0 -0
  788. share/doc/dart/data/urdf/drchubo/meshes/convhull_RSY_merged.stl +0 -0
  789. share/doc/dart/data/urdf/drchubo/meshes/convhull_RWP_merged.stl +0 -0
  790. share/doc/dart/data/urdf/drchubo/meshes/convhull_RWR_merged.stl +0 -0
  791. share/doc/dart/data/urdf/drchubo/meshes/convhull_RWY_merged.stl +0 -0
  792. share/doc/dart/data/urdf/drchubo/meshes/convhull_TSY_merged.stl +0 -0
  793. share/doc/dart/data/urdf/drchubo/meshes/convhull_Torso_merged.stl +0 -0
  794. share/doc/dart/data/urdf/drchubo/package.xml +11 -0
  795. share/doc/dart/data/urdf/test/invalid.urdf +1 -0
  796. share/doc/dart/data/urdf/test/invalid_mesh.stl +1 -0
  797. share/doc/dart/data/urdf/test/invalid_mesh.urdf +10 -0
  798. share/doc/dart/data/urdf/test/issue838.urdf +86 -0
  799. share/doc/dart/data/urdf/test/joint_properties.urdf +60 -0
  800. share/doc/dart/data/urdf/test/missing_mesh.urdf +10 -0
  801. share/doc/dart/data/urdf/test/missing_package.urdf +10 -0
  802. share/doc/dart/data/urdf/test/primitive_geometry.urdf +12 -0
  803. share/doc/dart/data/urdf/test/testWorld.urdf +9 -0
  804. share/doc/dart/data/urdf/wam/meshes/images/base_gray_128x.jpg +0 -0
  805. share/doc/dart/data/urdf/wam/meshes/images/forearm_256x.jpg +0 -0
  806. share/doc/dart/data/urdf/wam/meshes/images/lpu_128x.jpg +0 -0
  807. share/doc/dart/data/urdf/wam/meshes/images/shoulder_256x.jpg +0 -0
  808. share/doc/dart/data/urdf/wam/meshes/images/upperarm_128x.jpg +0 -0
  809. share/doc/dart/data/urdf/wam/meshes/images/wrist_yaw_128x.jpg +0 -0
  810. share/doc/dart/data/urdf/wam/meshes/wam/wam1.STL +0 -0
  811. share/doc/dart/data/urdf/wam/meshes/wam/wam1.dae +187 -0
  812. share/doc/dart/data/urdf/wam/meshes/wam/wam1_collision.STL +0 -0
  813. share/doc/dart/data/urdf/wam/meshes/wam/wam2.STL +0 -0
  814. share/doc/dart/data/urdf/wam/meshes/wam/wam2.dae +187 -0
  815. share/doc/dart/data/urdf/wam/meshes/wam/wam2_collision.STL +0 -0
  816. share/doc/dart/data/urdf/wam/meshes/wam/wam3.STL +0 -0
  817. share/doc/dart/data/urdf/wam/meshes/wam/wam3.dae +187 -0
  818. share/doc/dart/data/urdf/wam/meshes/wam/wam3_collision.STL +0 -0
  819. share/doc/dart/data/urdf/wam/meshes/wam/wam4.STL +0 -0
  820. share/doc/dart/data/urdf/wam/meshes/wam/wam4.dae +187 -0
  821. share/doc/dart/data/urdf/wam/meshes/wam/wam4_collision.STL +0 -0
  822. share/doc/dart/data/urdf/wam/meshes/wam/wam5.STL +0 -0
  823. share/doc/dart/data/urdf/wam/meshes/wam/wam5.dae +187 -0
  824. share/doc/dart/data/urdf/wam/meshes/wam/wam5_collision.STL +0 -0
  825. share/doc/dart/data/urdf/wam/meshes/wam/wam6.STL +0 -0
  826. share/doc/dart/data/urdf/wam/meshes/wam/wam6.dae +187 -0
  827. share/doc/dart/data/urdf/wam/meshes/wam/wam6_collision.STL +0 -0
  828. share/doc/dart/data/urdf/wam/meshes/wam/wam7.STL +0 -0
  829. share/doc/dart/data/urdf/wam/meshes/wam/wam7.dae +137 -0
  830. share/doc/dart/data/urdf/wam/meshes/wam/wam7_collision.STL +0 -0
  831. share/doc/dart/data/urdf/wam/meshes/wam/wam_base.STL +0 -0
  832. share/doc/dart/data/urdf/wam/meshes/wam/wam_base.dae +103 -0
  833. share/doc/dart/data/urdf/wam/meshes/wam/wam_base_collision.STL +0 -0
  834. share/doc/dart/data/urdf/wam/wam.urdf +230 -0
  835. share/doc/dart/data/vsk/Nick01.vsk +398 -0
  836. share/doc/dart/data/vsk/SehoonVSK3.vsk +398 -0
  837. share/doc/dart/data/vsk/Yuting.vsk +398 -0
  838. share/doc/dart/data/vsk/test/empty.vsk +3 -0
  839. share/doc/dart/examples/CMakeLists.txt +44 -0
  840. share/doc/dart/examples/README.md +33 -0
  841. share/doc/dart/examples/add_delete_skels/CMakeLists.txt +19 -0
  842. share/doc/dart/examples/add_delete_skels/main.cpp +165 -0
  843. share/doc/dart/examples/atlas_puppet/CMakeLists.txt +19 -0
  844. share/doc/dart/examples/atlas_puppet/README.md +20 -0
  845. share/doc/dart/examples/atlas_puppet/main.cpp +930 -0
  846. share/doc/dart/examples/atlas_simbicon/AtlasSimbiconEventHandler.cpp +71 -0
  847. share/doc/dart/examples/atlas_simbicon/AtlasSimbiconEventHandler.hpp +56 -0
  848. share/doc/dart/examples/atlas_simbicon/AtlasSimbiconWidget.cpp +187 -0
  849. share/doc/dart/examples/atlas_simbicon/AtlasSimbiconWidget.hpp +85 -0
  850. share/doc/dart/examples/atlas_simbicon/AtlasSimbiconWorldNode.cpp +134 -0
  851. share/doc/dart/examples/atlas_simbicon/AtlasSimbiconWorldNode.hpp +75 -0
  852. share/doc/dart/examples/atlas_simbicon/CMakeLists.txt +19 -0
  853. share/doc/dart/examples/atlas_simbicon/Controller.cpp +996 -0
  854. share/doc/dart/examples/atlas_simbicon/Controller.hpp +203 -0
  855. share/doc/dart/examples/atlas_simbicon/README.md +20 -0
  856. share/doc/dart/examples/atlas_simbicon/State.cpp +674 -0
  857. share/doc/dart/examples/atlas_simbicon/State.hpp +336 -0
  858. share/doc/dart/examples/atlas_simbicon/StateMachine.cpp +222 -0
  859. share/doc/dart/examples/atlas_simbicon/StateMachine.hpp +134 -0
  860. share/doc/dart/examples/atlas_simbicon/TerminalCondition.cpp +111 -0
  861. share/doc/dart/examples/atlas_simbicon/TerminalCondition.hpp +102 -0
  862. share/doc/dart/examples/atlas_simbicon/main.cpp +102 -0
  863. share/doc/dart/examples/biped_stand/CMakeLists.txt +19 -0
  864. share/doc/dart/examples/biped_stand/README.md +20 -0
  865. share/doc/dart/examples/biped_stand/main.cpp +287 -0
  866. share/doc/dart/examples/box_stacking/CMakeLists.txt +19 -0
  867. share/doc/dart/examples/box_stacking/README.md +20 -0
  868. share/doc/dart/examples/box_stacking/main.cpp +417 -0
  869. share/doc/dart/examples/boxes/CMakeLists.txt +19 -0
  870. share/doc/dart/examples/boxes/README.md +20 -0
  871. share/doc/dart/examples/boxes/main.cpp +157 -0
  872. share/doc/dart/examples/drag_and_drop/CMakeLists.txt +19 -0
  873. share/doc/dart/examples/drag_and_drop/README.md +20 -0
  874. share/doc/dart/examples/drag_and_drop/main.cpp +101 -0
  875. share/doc/dart/examples/empty/CMakeLists.txt +19 -0
  876. share/doc/dart/examples/empty/README.md +20 -0
  877. share/doc/dart/examples/empty/main.cpp +164 -0
  878. share/doc/dart/examples/fetch/CMakeLists.txt +19 -0
  879. share/doc/dart/examples/fetch/README.md +20 -0
  880. share/doc/dart/examples/fetch/main.cpp +246 -0
  881. share/doc/dart/examples/hardcoded_design/CMakeLists.txt +19 -0
  882. share/doc/dart/examples/hardcoded_design/HardcodedEventHandler.cpp +71 -0
  883. share/doc/dart/examples/hardcoded_design/HardcodedEventHandler.hpp +56 -0
  884. share/doc/dart/examples/hardcoded_design/README.md +27 -0
  885. share/doc/dart/examples/hardcoded_design/main.cpp +186 -0
  886. share/doc/dart/examples/heightmap/CMakeLists.txt +19 -0
  887. share/doc/dart/examples/heightmap/README.md +20 -0
  888. share/doc/dart/examples/heightmap/main.cpp +460 -0
  889. share/doc/dart/examples/hello_world/CMakeLists.txt +19 -0
  890. share/doc/dart/examples/hello_world/README.md +20 -0
  891. share/doc/dart/examples/hello_world/main.cpp +114 -0
  892. share/doc/dart/examples/hubo_puppet/CMakeLists.txt +19 -0
  893. share/doc/dart/examples/hubo_puppet/README.md +20 -0
  894. share/doc/dart/examples/hubo_puppet/main.cpp +1464 -0
  895. share/doc/dart/examples/human_joint_limits/CMakeLists.txt +49 -0
  896. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.cpp +411 -0
  897. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.hpp +182 -0
  898. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.cpp +432 -0
  899. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.hpp +179 -0
  900. share/doc/dart/examples/human_joint_limits/main.cpp +157 -0
  901. share/doc/dart/examples/hybrid_dynamics/CMakeLists.txt +19 -0
  902. share/doc/dart/examples/hybrid_dynamics/README.md +17 -0
  903. share/doc/dart/examples/hybrid_dynamics/main.cpp +187 -0
  904. share/doc/dart/examples/imgui/CMakeLists.txt +19 -0
  905. share/doc/dart/examples/imgui/README.md +20 -0
  906. share/doc/dart/examples/imgui/main.cpp +289 -0
  907. share/doc/dart/examples/joint_constraints/CMakeLists.txt +19 -0
  908. share/doc/dart/examples/joint_constraints/Controller.cpp +110 -0
  909. share/doc/dart/examples/joint_constraints/Controller.hpp +105 -0
  910. share/doc/dart/examples/joint_constraints/README.md +22 -0
  911. share/doc/dart/examples/joint_constraints/main.cpp +242 -0
  912. share/doc/dart/examples/mixed_chain/CMakeLists.txt +19 -0
  913. share/doc/dart/examples/mixed_chain/README.md +35 -0
  914. share/doc/dart/examples/mixed_chain/main.cpp +188 -0
  915. share/doc/dart/examples/operational_space_control/CMakeLists.txt +19 -0
  916. share/doc/dart/examples/operational_space_control/README.md +20 -0
  917. share/doc/dart/examples/operational_space_control/main.cpp +338 -0
  918. share/doc/dart/examples/point_cloud/CMakeLists.txt +19 -0
  919. share/doc/dart/examples/point_cloud/README.md +20 -0
  920. share/doc/dart/examples/point_cloud/main.cpp +740 -0
  921. share/doc/dart/examples/rerun/CMakeLists.txt +19 -0
  922. share/doc/dart/examples/rigid_chain/CMakeLists.txt +19 -0
  923. share/doc/dart/examples/rigid_chain/README.md +19 -0
  924. share/doc/dart/examples/rigid_chain/main.cpp +110 -0
  925. share/doc/dart/examples/rigid_cubes/CMakeLists.txt +19 -0
  926. share/doc/dart/examples/rigid_cubes/README.md +91 -0
  927. share/doc/dart/examples/rigid_cubes/main.cpp +201 -0
  928. share/doc/dart/examples/rigid_loop/CMakeLists.txt +19 -0
  929. share/doc/dart/examples/rigid_loop/README.md +34 -0
  930. share/doc/dart/examples/rigid_loop/main.cpp +127 -0
  931. share/doc/dart/examples/rigid_shapes/CMakeLists.txt +19 -0
  932. share/doc/dart/examples/rigid_shapes/README.md +19 -0
  933. share/doc/dart/examples/rigid_shapes/main.cpp +250 -0
  934. share/doc/dart/examples/simple_frames/CMakeLists.txt +19 -0
  935. share/doc/dart/examples/simple_frames/README.md +27 -0
  936. share/doc/dart/examples/simple_frames/main.cpp +124 -0
  937. share/doc/dart/examples/simulation_event_handler/CMakeLists.txt +19 -0
  938. share/doc/dart/examples/simulation_event_handler/README.md +189 -0
  939. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.cpp +572 -0
  940. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.hpp +211 -0
  941. share/doc/dart/examples/simulation_event_handler/main.cpp +277 -0
  942. share/doc/dart/examples/soft_bodies/CMakeLists.txt +19 -0
  943. share/doc/dart/examples/soft_bodies/README.md +20 -0
  944. share/doc/dart/examples/soft_bodies/main.cpp +219 -0
  945. share/doc/dart/examples/speed_test/CMakeLists.txt +19 -0
  946. share/doc/dart/examples/speed_test/README.md +20 -0
  947. share/doc/dart/examples/speed_test/main.cpp +250 -0
  948. share/doc/dart/examples/tinkertoy/CMakeLists.txt +19 -0
  949. share/doc/dart/examples/tinkertoy/README.md +20 -0
  950. share/doc/dart/examples/tinkertoy/TinkertoyWidget.cpp +208 -0
  951. share/doc/dart/examples/tinkertoy/TinkertoyWidget.hpp +70 -0
  952. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.cpp +35 -0
  953. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.hpp +470 -0
  954. share/doc/dart/examples/tinkertoy/main.cpp +186 -0
  955. share/doc/dart/examples/vehicle/CMakeLists.txt +19 -0
  956. share/doc/dart/examples/vehicle/README.md +22 -0
  957. share/doc/dart/examples/vehicle/main.cpp +195 -0
  958. share/doc/dart/examples/wam_ikfast/CMakeLists.txt +22 -0
  959. share/doc/dart/examples/wam_ikfast/Helpers.cpp +148 -0
  960. share/doc/dart/examples/wam_ikfast/Helpers.hpp +46 -0
  961. share/doc/dart/examples/wam_ikfast/InputHandler.cpp +110 -0
  962. share/doc/dart/examples/wam_ikfast/InputHandler.hpp +73 -0
  963. share/doc/dart/examples/wam_ikfast/README.md +20 -0
  964. share/doc/dart/examples/wam_ikfast/WamWorld.cpp +46 -0
  965. share/doc/dart/examples/wam_ikfast/WamWorld.hpp +53 -0
  966. share/doc/dart/examples/wam_ikfast/ikfast/CMakeLists.txt +11 -0
  967. share/doc/dart/examples/wam_ikfast/ikfast/ikfast71.Transform6D.4_6_9_10_11_12_f8.cpp +14930 -0
  968. share/doc/dart/examples/wam_ikfast/osgWamIkFast.cpp +96 -0
  969. share/doc/dart/tutorials/CMakeLists.txt +12 -0
  970. share/doc/dart/tutorials/README.md +45 -0
  971. share/doc/dart/tutorials/tutorial_biped/CMakeLists.txt +19 -0
  972. share/doc/dart/tutorials/tutorial_biped/README +18 -0
  973. share/doc/dart/tutorials/tutorial_biped/main.cpp +374 -0
  974. share/doc/dart/tutorials/tutorial_biped_finished/CMakeLists.txt +19 -0
  975. share/doc/dart/tutorials/tutorial_biped_finished/README +18 -0
  976. share/doc/dart/tutorials/tutorial_biped_finished/main.cpp +532 -0
  977. share/doc/dart/tutorials/tutorial_collisions/CMakeLists.txt +19 -0
  978. share/doc/dart/tutorials/tutorial_collisions/README +18 -0
  979. share/doc/dart/tutorials/tutorial_collisions/main.cpp +506 -0
  980. share/doc/dart/tutorials/tutorial_collisions_finished/CMakeLists.txt +19 -0
  981. share/doc/dart/tutorials/tutorial_collisions_finished/README +18 -0
  982. share/doc/dart/tutorials/tutorial_collisions_finished/main.cpp +679 -0
  983. share/doc/dart/tutorials/tutorial_dominoes/CMakeLists.txt +19 -0
  984. share/doc/dart/tutorials/tutorial_dominoes/README +18 -0
  985. share/doc/dart/tutorials/tutorial_dominoes/main.cpp +394 -0
  986. share/doc/dart/tutorials/tutorial_dominoes_finished/CMakeLists.txt +19 -0
  987. share/doc/dart/tutorials/tutorial_dominoes_finished/README +18 -0
  988. share/doc/dart/tutorials/tutorial_dominoes_finished/main.cpp +559 -0
  989. share/doc/dart/tutorials/tutorial_multi_pendulum/CMakeLists.txt +19 -0
  990. share/doc/dart/tutorials/tutorial_multi_pendulum/README +18 -0
  991. share/doc/dart/tutorials/tutorial_multi_pendulum/main.cpp +443 -0
  992. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/CMakeLists.txt +19 -0
  993. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/README +18 -0
  994. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/main.cpp +512 -0
share/doc/dart/data/vsk/Yuting.vsk ADDED
@@ -0,0 +1,398 @@
1
+ <?xml version="1.0" standalone="yes"?>
2
+ <KinematicModel>
3
+ <Parameters>
4
+ <Parameter NAME="LFWT_Root_X" VALUE="79.1402" />
5
+ <Parameter NAME="LFWT_Root_Y" VALUE="0" />
6
+ <Parameter NAME="LFWT_Root_Z" VALUE="79.1402" />
7
+ <Parameter NAME="LBWT_Root_X" VALUE="79.1402" />
8
+ <Parameter NAME="LBWT_Root_Y" VALUE="0" />
9
+ <Parameter NAME="LBWT_Root_Z" VALUE="-79.1402" />
10
+ <Parameter NAME="RFWT_Root_X" VALUE="-79.1402" />
11
+ <Parameter NAME="RFWT_Root_Y" VALUE="0" />
12
+ <Parameter NAME="RFWT_Root_Z" VALUE="79.1402" />
13
+ <Parameter NAME="RBWT_Root_X" VALUE="-79.1402" />
14
+ <Parameter NAME="RBWT_Root_Y" VALUE="0" />
15
+ <Parameter NAME="RBWT_Root_Z" VALUE="-79.1402" />
16
+ <Parameter NAME="HipWidth" VALUE="79.1402" />
17
+ <Parameter NAME="LKNE_L_Femur_X" VALUE="39.5701" />
18
+ <Parameter NAME="LKNE_L_Femur_Y" VALUE="-395.701" />
19
+ <Parameter NAME="LKNE_L_Femur_Z" VALUE="0" />
20
+ <Parameter NAME="LKNI_L_Femur_X" VALUE="-39.5701" />
21
+ <Parameter NAME="LKNI_L_Femur_Y" VALUE="-395.701" />
22
+ <Parameter NAME="LKNI_L_Femur_Z" VALUE="0" />
23
+ <Parameter NAME="UpperLegLength" VALUE="395.701" />
24
+ <Parameter NAME="LANK_L_Tibia_X" VALUE="36.4045" />
25
+ <Parameter NAME="LANK_L_Tibia_Y" VALUE="-364.045" />
26
+ <Parameter NAME="LANK_L_Tibia_Z" VALUE="0" />
27
+ <Parameter NAME="LowerLegLength" VALUE="364.045" />
28
+ <Parameter NAME="LMT5_L_Foot_X" VALUE="34.6238" />
29
+ <Parameter NAME="LMT5_L_Foot_Y" VALUE="0" />
30
+ <Parameter NAME="LMT5_L_Foot_Z" VALUE="138.495" />
31
+ <Parameter NAME="LMT1_L_Foot_X" VALUE="-34.6238" />
32
+ <Parameter NAME="LMT1_L_Foot_Y" VALUE="0" />
33
+ <Parameter NAME="LMT1_L_Foot_Z" VALUE="138.495" />
34
+ <Parameter NAME="LHEL_L_Foot_X" VALUE="0" />
35
+ <Parameter NAME="LHEL_L_Foot_Y" VALUE="-27.6991" />
36
+ <Parameter NAME="LHEL_L_Foot_Z" VALUE="-13.8495" />
37
+ <Parameter NAME="FootLength" VALUE="138.495" />
38
+ <Parameter NAME="LTOE_L_Toe_X" VALUE="0" />
39
+ <Parameter NAME="LTOE_L_Toe_Y" VALUE="5.93551" />
40
+ <Parameter NAME="LTOE_L_Toe_Z" VALUE="59.3551" />
41
+ <Parameter NAME="RKNE_R_Femur_X" VALUE="-39.5701" />
42
+ <Parameter NAME="RKNE_R_Femur_Y" VALUE="-395.701" />
43
+ <Parameter NAME="RKNE_R_Femur_Z" VALUE="0" />
44
+ <Parameter NAME="RKNI_R_Femur_X" VALUE="39.5701" />
45
+ <Parameter NAME="RKNI_R_Femur_Y" VALUE="-395.701" />
46
+ <Parameter NAME="RKNI_R_Femur_Z" VALUE="0" />
47
+ <Parameter NAME="RANK_R_Tibia_X" VALUE="-36.4045" />
48
+ <Parameter NAME="RANK_R_Tibia_Y" VALUE="-364.045" />
49
+ <Parameter NAME="RANK_R_Tibia_Z" VALUE="0" />
50
+ <Parameter NAME="RMT5_R_Foot_X" VALUE="-34.6238" />
51
+ <Parameter NAME="RMT5_R_Foot_Y" VALUE="0" />
52
+ <Parameter NAME="RMT5_R_Foot_Z" VALUE="138.495" />
53
+ <Parameter NAME="RMT1_R_Foot_X" VALUE="34.6238" />
54
+ <Parameter NAME="RMT1_R_Foot_Y" VALUE="0" />
55
+ <Parameter NAME="RMT1_R_Foot_Z" VALUE="138.495" />
56
+ <Parameter NAME="RHEL_R_Foot_X" VALUE="0" />
57
+ <Parameter NAME="RHEL_R_Foot_Y" VALUE="-27.6991" />
58
+ <Parameter NAME="RHEL_R_Foot_Z" VALUE="-13.8495" />
59
+ <Parameter NAME="RTOE_R_Toe_X" VALUE="0" />
60
+ <Parameter NAME="RTOE_R_Toe_Y" VALUE="5.93551" />
61
+ <Parameter NAME="RTOE_R_Toe_Z" VALUE="59.3551" />
62
+ <Parameter NAME="SpineBoneLength" VALUE="197.85" />
63
+ <Parameter NAME="CLAV_Thorax_X" VALUE="0" />
64
+ <Parameter NAME="CLAV_Thorax_Y" VALUE="197.85" />
65
+ <Parameter NAME="CLAV_Thorax_Z" VALUE="79.1402" />
66
+ <Parameter NAME="STRN_Thorax_X" VALUE="0" />
67
+ <Parameter NAME="STRN_Thorax_Y" VALUE="0" />
68
+ <Parameter NAME="STRN_Thorax_Z" VALUE="79.1402" />
69
+ <Parameter NAME="C7_Thorax_X" VALUE="0" />
70
+ <Parameter NAME="C7_Thorax_Y" VALUE="197.85" />
71
+ <Parameter NAME="C7_Thorax_Z" VALUE="-79.1402" />
72
+ <Parameter NAME="T10_Thorax_X" VALUE="0" />
73
+ <Parameter NAME="T10_Thorax_Y" VALUE="0" />
74
+ <Parameter NAME="T10_Thorax_Z" VALUE="-79.1402" />
75
+ <Parameter NAME="ChestLength" VALUE="197.85" />
76
+ <Parameter NAME="HeadBoneLength" VALUE="91.0112" />
77
+ <Parameter NAME="LFHD_Head_X" VALUE="39.5701" />
78
+ <Parameter NAME="LFHD_Head_Y" VALUE="91.0112" />
79
+ <Parameter NAME="LFHD_Head_Z" VALUE="39.5701" />
80
+ <Parameter NAME="LBHD_Head_X" VALUE="39.5701" />
81
+ <Parameter NAME="LBHD_Head_Y" VALUE="91.0112" />
82
+ <Parameter NAME="LBHD_Head_Z" VALUE="-39.5701" />
83
+ <Parameter NAME="RFHD_Head_X" VALUE="-39.5701" />
84
+ <Parameter NAME="RFHD_Head_Y" VALUE="91.0112" />
85
+ <Parameter NAME="RFHD_Head_Z" VALUE="39.5701" />
86
+ <Parameter NAME="RBHD_Head_X" VALUE="-39.5701" />
87
+ <Parameter NAME="RBHD_Head_Y" VALUE="91.0112" />
88
+ <Parameter NAME="RBHD_Head_Z" VALUE="-39.5701" />
89
+ <Parameter NAME="LFSH_L_Collar_X" VALUE="0" />
90
+ <Parameter NAME="LFSH_L_Collar_Y" VALUE="118.71" />
91
+ <Parameter NAME="LFSH_L_Collar_Z" VALUE="59.3551" />
92
+ <Parameter NAME="LBSH_L_Collar_X" VALUE="0" />
93
+ <Parameter NAME="LBSH_L_Collar_Y" VALUE="118.71" />
94
+ <Parameter NAME="LBSH_L_Collar_Z" VALUE="-59.3551" />
95
+ <Parameter NAME="ClavLength" VALUE="118.71" />
96
+ <Parameter NAME="LELB_L_Humerus_X" VALUE="-23.7421" />
97
+ <Parameter NAME="LELB_L_Humerus_Y" VALUE="237.421" />
98
+ <Parameter NAME="LELB_L_Humerus_Z" VALUE="0" />
99
+ <Parameter NAME="LIEL_L_Humerus_X" VALUE="40.3601" />
100
+ <Parameter NAME="LIEL_L_Humerus_Y" VALUE="237.421" />
101
+ <Parameter NAME="LIEL_L_Humerus_Z" VALUE="0" />
102
+ <Parameter NAME="UpperArmLength" VALUE="237.421" />
103
+ <Parameter NAME="LOWR_L_Elbow_X" VALUE="0" />
104
+ <Parameter NAME="LOWR_L_Elbow_Y" VALUE="217.636" />
105
+ <Parameter NAME="LOWR_L_Elbow_Z" VALUE="-21.7636" />
106
+ <Parameter NAME="LIWR_L_Elbow_X" VALUE="0" />
107
+ <Parameter NAME="LIWR_L_Elbow_Y" VALUE="217.636" />
108
+ <Parameter NAME="LIWR_L_Elbow_Z" VALUE="21.7636" />
109
+ <Parameter NAME="LowerArmLength" VALUE="217.636" />
110
+ <Parameter NAME="LOHAND_L_Wrist_X" VALUE="0" />
111
+ <Parameter NAME="LOHAND_L_Wrist_Y" VALUE="79.1402" />
112
+ <Parameter NAME="LOHAND_L_Wrist_Z" VALUE="-19.785" />
113
+ <Parameter NAME="LIHAND_L_Wrist_X" VALUE="0" />
114
+ <Parameter NAME="LIHAND_L_Wrist_Y" VALUE="79.1402" />
115
+ <Parameter NAME="LIHAND_L_Wrist_Z" VALUE="19.785" />
116
+ <Parameter NAME="RFSH_R_Collar_X" VALUE="0" />
117
+ <Parameter NAME="RFSH_R_Collar_Y" VALUE="118.71" />
118
+ <Parameter NAME="RFSH_R_Collar_Z" VALUE="59.3551" />
119
+ <Parameter NAME="RBSH_R_Collar_X" VALUE="0" />
120
+ <Parameter NAME="RBSH_R_Collar_Y" VALUE="118.71" />
121
+ <Parameter NAME="RBSH_R_Collar_Z" VALUE="-59.3551" />
122
+ <Parameter NAME="RELB_R_Humerus_X" VALUE="23.7421" />
123
+ <Parameter NAME="RELB_R_Humerus_Y" VALUE="237.421" />
124
+ <Parameter NAME="RELB_R_Humerus_Z" VALUE="0" />
125
+ <Parameter NAME="RIEL_R_Humerus_X" VALUE="-40.3601" />
126
+ <Parameter NAME="RIEL_R_Humerus_Y" VALUE="237.421" />
127
+ <Parameter NAME="RIEL_R_Humerus_Z" VALUE="0" />
128
+ <Parameter NAME="ROWR_R_Elbow_X" VALUE="0" />
129
+ <Parameter NAME="ROWR_R_Elbow_Y" VALUE="217.636" />
130
+ <Parameter NAME="ROWR_R_Elbow_Z" VALUE="-21.7636" />
131
+ <Parameter NAME="RIWR_R_Elbow_X" VALUE="0" />
132
+ <Parameter NAME="RIWR_R_Elbow_Y" VALUE="217.636" />
133
+ <Parameter NAME="RIWR_R_Elbow_Z" VALUE="21.7636" />
134
+ <Parameter NAME="ROHAND_R_Wrist_X" VALUE="0" />
135
+ <Parameter NAME="ROHAND_R_Wrist_Y" VALUE="79.1402" />
136
+ <Parameter NAME="ROHAND_R_Wrist_Z" VALUE="-19.785" />
137
+ <Parameter NAME="RIHAND_R_Wrist_X" VALUE="0" />
138
+ <Parameter NAME="RIHAND_R_Wrist_Y" VALUE="79.1402" />
139
+ <Parameter NAME="RIHAND_R_Wrist_Z" VALUE="19.785" />
140
+ <Parameter NAME="LMWT_Root_X" VALUE="147.31" />
141
+ <Parameter NAME="LMWT_Root_Y" VALUE="-18.4947" />
142
+ <Parameter NAME="LMWT_Root_Z" VALUE="-2.95373" />
143
+ <Parameter NAME="RMWT_Root_X" VALUE="-154.122" />
144
+ <Parameter NAME="RMWT_Root_Y" VALUE="-45.2983" />
145
+ <Parameter NAME="RMWT_Root_Z" VALUE="-9.80262" />
146
+ <Parameter NAME="RUPA_R_Humerus_X" VALUE="-0.790603" />
147
+ <Parameter NAME="RUPA_R_Humerus_Y" VALUE="98.9252" />
148
+ <Parameter NAME="RUPA_R_Humerus_Z" VALUE="0" />
149
+ <Parameter NAME="LUPA_L_Humerus_X" VALUE="0.790603" />
150
+ <Parameter NAME="LUPA_L_Humerus_Y" VALUE="98.9252" />
151
+ <Parameter NAME="LUPA_L_Humerus_Z" VALUE="0" />
152
+ <Parameter NAME="RWRE_R_Elbow_X" VALUE="-0.789803" />
153
+ <Parameter NAME="RWRE_R_Elbow_Y" VALUE="79.1402" />
154
+ <Parameter NAME="RWRE_R_Elbow_Z" VALUE="0" />
155
+ <Parameter NAME="LWRE_L_Elbow_X" VALUE="0.789803" />
156
+ <Parameter NAME="LWRE_L_Elbow_Y" VALUE="79.1402" />
157
+ <Parameter NAME="LWRE_L_Elbow_Z" VALUE="0" />
158
+ <Parameter NAME="LHIP_L_Femur_X" VALUE="0" />
159
+ <Parameter NAME="LHIP_L_Femur_Y" VALUE="-158.28" />
160
+ <Parameter NAME="LHIP_L_Femur_Z" VALUE="2.37421" />
161
+ <Parameter NAME="RHIP_R_Femur_X" VALUE="0" />
162
+ <Parameter NAME="RHIP_R_Femur_Y" VALUE="-158.28" />
163
+ <Parameter NAME="RHIP_R_Femur_Z" VALUE="0" />
164
+ <Parameter NAME="LSHN_L_Tibia_X" VALUE="0" />
165
+ <Parameter NAME="LSHN_L_Tibia_Y" VALUE="-197.85" />
166
+ <Parameter NAME="LSHN_L_Tibia_Z" VALUE="0" />
167
+ <Parameter NAME="RSHN_R_Tibia_X" VALUE="0" />
168
+ <Parameter NAME="RSHN_R_Tibia_Y" VALUE="-197.85" />
169
+ <Parameter NAME="RSHN_R_Tibia_Z" VALUE="0" />
170
+ <Parameter NAME="ARIEL_Head_X" VALUE="0" />
171
+ <Parameter NAME="ARIEL_Head_Y" VALUE="118.71" />
172
+ <Parameter NAME="ARIEL_Head_Z" VALUE="0" />
173
+ </Parameters>
174
+ <Skeleton>
175
+ <Segment NAME="Hips" POSITION="0 0 0" ORIENTATION="-0 -0 -0" BOUNDS="-79.1402 -9.89252 0 79.1402 9.89252 9.89252" RGB="0 128 0">
176
+ <JointFree MEAN="-0.000000 -0.000000 -0.000000 0.000000 0.000000 0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 100000000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 100000000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 100000000.000000 " />
177
+ <Segment NAME="LeftUpLeg" POSITION="HipWidth 0 0" ORIENTATION="-0 -0 -0" BOUNDS="-1.85455e-031 0 0 1.85455e-031 1.48364e-030 1.85455e-031" RGB="0 128 0">
178
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
179
+ <Segment NAME="LeftLeg" POSITION="0 -UpperLegLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-1.70619e-031 0 0 1.70619e-031 1.36495e-030 1.70619e-031" RGB="0 128 0">
180
+ <JointHinge AXIS="1 0 0" MEAN="-0.000000 " COVARIANCE="1.000000 " />
181
+ <Segment NAME="LeftFoot" POSITION="0 -LowerLegLength 0" ORIENTATION="0.261799 -0 0" BOUNDS="-17.3119 -17.3119 0 17.3119 2.84217e-014 138.495" RGB="0 128 0">
182
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
183
+ <Segment NAME="LeftToe" POSITION="0 0 FootLength" ORIENTATION="-0.261799 -0 -0" BOUNDS="-9.375 -9.375 0 9.375 1.42109e-014 75" RGB="0 128 0">
184
+ <JointHinge AXIS="1 0 0" MEAN="-0.000000 " COVARIANCE="1.000000 " />
185
+ <Segment NAME="L_Toe_End" POSITION="0 0 75" ORIENTATION="-0 -0 -0" BOUNDS="1.79769e+308 1.79769e+308 1.79769e+308 -1.79769e+308 -1.79769e+308 -1.79769e+308" RGB="0 128 0">
186
+ <JointDummy />
187
+ </Segment>
188
+ </Segment>
189
+ </Segment>
190
+ </Segment>
191
+ </Segment>
192
+ <Segment NAME="RightUpLeg" POSITION="-HipWidth 0 0" ORIENTATION="-0 -0 -0" BOUNDS="-1.85455e-031 0 0 1.85455e-031 1.48364e-030 1.85455e-031" RGB="0 128 0">
193
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
194
+ <Segment NAME="RightLeg" POSITION="0 -UpperLegLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-1.70619e-031 0 0 1.70619e-031 1.36495e-030 1.70619e-031" RGB="0 128 0">
195
+ <JointHinge AXIS="1 0 0" MEAN="-0.000000 " COVARIANCE="1.000000 " />
196
+ <Segment NAME="RightFoot" POSITION="0 -LowerLegLength 0" ORIENTATION="0.261799 -0 0" BOUNDS="-17.3119 -17.3119 0 17.3119 2.84217e-014 138.495" RGB="0 128 0">
197
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
198
+ <Segment NAME="RightToe" POSITION="0 0 FootLength" ORIENTATION="-0.261799 -0 -0" BOUNDS="-9.375 -9.375 0 9.375 1.42109e-014 75" RGB="0 128 0">
199
+ <JointHinge AXIS="1 0 0" MEAN="-0.000000 " COVARIANCE="1.000000 " />
200
+ <Segment NAME="R_Toe_End" POSITION="0 0 75" ORIENTATION="-0 -0 -0" BOUNDS="1.79769e+308 1.79769e+308 1.79769e+308 -1.79769e+308 -1.79769e+308 -1.79769e+308" RGB="0 128 0">
201
+ <JointDummy />
202
+ </Segment>
203
+ </Segment>
204
+ </Segment>
205
+ </Segment>
206
+ </Segment>
207
+ <Segment NAME="Spine" POSITION="0 1 0" ORIENTATION="-0 -0 -0" BOUNDS="-24.7313 0 0 24.7313 197.85 24.7313" RGB="0 128 0">
208
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
209
+ <Segment NAME="Spine1" POSITION="0 SpineBoneLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-24.7313 0 0 24.7313 197.85 24.7313" RGB="0 128 0">
210
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
211
+ <Segment NAME="Neck" POSITION="0 ChestLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-11.3764 0 0 11.3764 91.0112 11.3764" RGB="0 128 0">
212
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
213
+ <Segment NAME="Head" POSITION="0 HeadBoneLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-14.375 0 0 14.375 115 14.375" RGB="0 128 0">
214
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
215
+ <Segment NAME="Head_End" POSITION="0 115 0" ORIENTATION="-0 -0 -0" BOUNDS="1.79769e+308 1.79769e+308 1.79769e+308 -1.79769e+308 -1.79769e+308 -1.79769e+308" RGB="0 128 0">
216
+ <JointDummy />
217
+ </Segment>
218
+ </Segment>
219
+ </Segment>
220
+ <Segment NAME="LeftShoulder" POSITION="0 ChestLength 0" ORIENTATION="-0 -0 -1.5708" BOUNDS="-14.8388 0 0 14.8388 118.71 14.8388" RGB="0 128 0">
221
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
222
+ <Segment NAME="LeftArm" POSITION="0 ClavLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-29.6776 0 0 29.6776 237.421 29.6776" RGB="0 128 0">
223
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
224
+ <Segment NAME="LeftForeArm" POSITION="0 UpperArmLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-27.2044 0 0 27.2044 217.636 27.2044" RGB="0 128 0">
225
+ <JointHinge AXIS="1 0 0" MEAN="-0.000000 " COVARIANCE="1.000000 " />
226
+ <Segment NAME="LeftHand" POSITION="0 LowerArmLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-12.5 0 0 12.5 100 12.5" RGB="0 128 0">
227
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
228
+ <Segment NAME="LeftHandThumb" POSITION="0 0 0" ORIENTATION="-0 -0 -0" BOUNDS="-12.5 -12.5 0 12.5 2.13163e-014 100" RGB="0 128 0">
229
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
230
+ <Segment NAME="L_Thumb_End" POSITION="0 0 100" ORIENTATION="-0 -0 -0" BOUNDS="1.79769e+308 1.79769e+308 1.79769e+308 -1.79769e+308 -1.79769e+308 -1.79769e+308" RGB="0 128 0">
231
+ <JointDummy />
232
+ </Segment>
233
+ </Segment>
234
+ <Segment NAME="L_Wrist_End" POSITION="0 100 0" ORIENTATION="-0 -0 -0" BOUNDS="1.79769e+308 1.79769e+308 1.79769e+308 -1.79769e+308 -1.79769e+308 -1.79769e+308" RGB="0 128 0">
235
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
236
+ </Segment>
237
+ </Segment>
238
+ </Segment>
239
+ </Segment>
240
+ </Segment>
241
+ <Segment NAME="RightShoulder" POSITION="0 ChestLength 0" ORIENTATION="0 -0 1.5708" BOUNDS="-14.8388 0 0 14.8388 118.71 14.8388" RGB="0 128 0">
242
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
243
+ <Segment NAME="RightArm" POSITION="0 ClavLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-29.6776 0 0 29.6776 237.421 29.6776" RGB="0 128 0">
244
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
245
+ <Segment NAME="RightForeArm" POSITION="0 UpperArmLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-27.2044 0 0 27.2044 217.636 27.2044" RGB="0 128 0">
246
+ <JointHinge AXIS="1 0 0" MEAN="-0.000000 " COVARIANCE="1.000000 " />
247
+ <Segment NAME="RightHand" POSITION="0 LowerArmLength 0" ORIENTATION="-0 -0 -0" BOUNDS="-17.1875 0 0 17.1875 137.5 17.1875" RGB="0 128 0">
248
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
249
+ <Segment NAME="RightHandThumb" POSITION="0 0 0" ORIENTATION="-0 -0 -0" BOUNDS="-12.5 -12.5 0 12.5 2.13163e-014 100" RGB="0 128 0">
250
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
251
+ <Segment NAME="R_Thumb_End" POSITION="0 0 100" ORIENTATION="-0 -0 -0" BOUNDS="1.79769e+308 1.79769e+308 1.79769e+308 -1.79769e+308 -1.79769e+308 -1.79769e+308" RGB="0 128 0">
252
+ <JointDummy />
253
+ </Segment>
254
+ </Segment>
255
+ <Segment NAME="R_Wrist_End" POSITION="0 137.5 0" ORIENTATION="-0 -0 -0" BOUNDS="1.79769e+308 1.79769e+308 1.79769e+308 -1.79769e+308 -1.79769e+308 -1.79769e+308" RGB="0 128 0">
256
+ <JointBall MEAN="-0.000000 -0.000000 -0.000000 " COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 " />
257
+ </Segment>
258
+ </Segment>
259
+ </Segment>
260
+ </Segment>
261
+ </Segment>
262
+ </Segment>
263
+ </Segment>
264
+ </Segment>
265
+ </Skeleton>
266
+ <MarkerSet NAME="Markerset">
267
+ <Markers>
268
+ <Marker NAME="ARIEL" SEGMENT="Head" RGB="255 255 255" POSITION="ARIEL_Head_X ARIEL_Head_Y ARIEL_Head_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="12.2" />
269
+ <Marker NAME="LFHD" SEGMENT="Head" RGB="255 255 0" POSITION="LFHD_Head_X LFHD_Head_Y LFHD_Head_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="12.1" />
270
+ <Marker NAME="LBHD" SEGMENT="Head" RGB="255 255 0" POSITION="LBHD_Head_X LBHD_Head_Y LBHD_Head_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="12.2" />
271
+ <Marker NAME="RFHD" SEGMENT="Head" RGB="0 255 0" POSITION="RFHD_Head_X RFHD_Head_Y RFHD_Head_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="11.1" />
272
+ <Marker NAME="RBHD" SEGMENT="Head" RGB="0 255 0" POSITION="RBHD_Head_X RBHD_Head_Y RBHD_Head_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="12.3" />
273
+ <Marker NAME="C7" SEGMENT="Spine1" RGB="150 150 0" POSITION="C7_Thorax_X C7_Thorax_Y C7_Thorax_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="9.1" />
274
+ <Marker NAME="T10" SEGMENT="Spine1" RGB="150 150 0" POSITION="T10_Thorax_X T10_Thorax_Y T10_Thorax_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.8" />
275
+ <Marker NAME="CLAV" SEGMENT="Spine1" RGB="150 150 0" POSITION="CLAV_Thorax_X CLAV_Thorax_Y CLAV_Thorax_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="9.1" />
276
+ <Marker NAME="STRN" SEGMENT="Spine1" RGB="150 150 0" POSITION="STRN_Thorax_X STRN_Thorax_Y STRN_Thorax_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.4" />
277
+ <Marker NAME="LFSH" SEGMENT="LeftShoulder" RGB="255 255 0" POSITION="LFSH_L_Collar_X LFSH_L_Collar_Y LFSH_L_Collar_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.4" />
278
+ <Marker NAME="LBSH" SEGMENT="LeftShoulder" RGB="255 255 0" POSITION="LBSH_L_Collar_X LBSH_L_Collar_Y LBSH_L_Collar_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.9" />
279
+ <Marker NAME="LUPA" SEGMENT="LeftArm" RGB="255 255 0" POSITION="LUPA_L_Humerus_X LUPA_L_Humerus_Y LUPA_L_Humerus_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="9.2" />
280
+ <Marker NAME="LELB" SEGMENT="LeftArm" RGB="255 255 0" POSITION="LELB_L_Humerus_X LELB_L_Humerus_Y LELB_L_Humerus_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="9.2" />
281
+ <Marker NAME="LIEL" SEGMENT="LeftArm" RGB="255 255 0" POSITION="LIEL_L_Humerus_X LIEL_L_Humerus_Y LIEL_L_Humerus_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="7.7" />
282
+ <Marker NAME="LOWR" SEGMENT="LeftForeArm" RGB="255 255 0" POSITION="LOWR_L_Elbow_X LOWR_L_Elbow_Y LOWR_L_Elbow_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="9.2" />
283
+ <Marker NAME="LIWR" SEGMENT="LeftForeArm" RGB="255 255 0" POSITION="LIWR_L_Elbow_X LIWR_L_Elbow_Y LIWR_L_Elbow_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="9.0" />
284
+ <Marker NAME="LWRE" SEGMENT="LeftForeArm" RGB="255 255 0" POSITION="LWRE_L_Elbow_X LWRE_L_Elbow_Y LWRE_L_Elbow_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.6" />
285
+ <Marker NAME="LIHAND" SEGMENT="LeftHand" RGB="255 255 0" POSITION="LIHAND_L_Wrist_X LIHAND_L_Wrist_Y LIHAND_L_Wrist_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.3" />
286
+ <Marker NAME="LOHAND" SEGMENT="LeftHand" RGB="255 255 0" POSITION="LOHAND_L_Wrist_X LOHAND_L_Wrist_Y LOHAND_L_Wrist_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="9.0" />
287
+ <Marker NAME="RFSH" SEGMENT="RightShoulder" RGB="0 255 0" POSITION="RFSH_R_Collar_X RFSH_R_Collar_Y RFSH_R_Collar_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.1" />
288
+ <Marker NAME="RBSH" SEGMENT="RightShoulder" RGB="0 255 0" POSITION="RBSH_R_Collar_X RBSH_R_Collar_Y RBSH_R_Collar_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.7" />
289
+ <Marker NAME="RUPA" SEGMENT="RightArm" RGB="0 255 0" POSITION="RUPA_R_Humerus_X RUPA_R_Humerus_Y RUPA_R_Humerus_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.1" />
290
+ <Marker NAME="RELB" SEGMENT="RightArm" RGB="0 255 0" POSITION="RELB_R_Humerus_X RELB_R_Humerus_Y RELB_R_Humerus_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.1" />
291
+ <Marker NAME="RIEL" SEGMENT="RightArm" RGB="0 255 0" POSITION="RIEL_R_Humerus_X RIEL_R_Humerus_Y RIEL_R_Humerus_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="6.1" />
292
+ <Marker NAME="ROWR" SEGMENT="RightForeArm" RGB="0 255 0" POSITION="ROWR_R_Elbow_X ROWR_R_Elbow_Y ROWR_R_Elbow_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.0" />
293
+ <Marker NAME="RIWR" SEGMENT="RightForeArm" RGB="0 255 0" POSITION="RIWR_R_Elbow_X RIWR_R_Elbow_Y RIWR_R_Elbow_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.3" />
294
+ <Marker NAME="RWRE" SEGMENT="RightForeArm" RGB="0 255 0" POSITION="RWRE_R_Elbow_X RWRE_R_Elbow_Y RWRE_R_Elbow_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.4" />
295
+ <Marker NAME="RIHAND" SEGMENT="RightHand" RGB="0 255 0" POSITION="RIHAND_R_Wrist_X RIHAND_R_Wrist_Y RIHAND_R_Wrist_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.3" />
296
+ <Marker NAME="ROHAND" SEGMENT="RightHand" RGB="0 255 0" POSITION="ROHAND_R_Wrist_X ROHAND_R_Wrist_Y ROHAND_R_Wrist_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="9.3" />
297
+ <Marker NAME="LFWT" SEGMENT="Hips" RGB="255 255 0" POSITION="LFWT_Root_X LFWT_Root_Y LFWT_Root_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.8" />
298
+ <Marker NAME="LMWT" SEGMENT="Hips" RGB="255 255 0" POSITION="LMWT_Root_X LMWT_Root_Y LMWT_Root_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.3" />
299
+ <Marker NAME="LBWT" SEGMENT="Hips" RGB="255 255 0" POSITION="LBWT_Root_X LBWT_Root_Y LBWT_Root_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="9.5" />
300
+ <Marker NAME="RFWT" SEGMENT="Hips" RGB="0 255 0" POSITION="RFWT_Root_X RFWT_Root_Y RFWT_Root_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.4" />
301
+ <Marker NAME="RMWT" SEGMENT="Hips" RGB="0 255 0" POSITION="RMWT_Root_X RMWT_Root_Y RMWT_Root_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="7.8" />
302
+ <Marker NAME="RBWT" SEGMENT="Hips" RGB="0 255 0" POSITION="RBWT_Root_X RBWT_Root_Y RBWT_Root_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.1" />
303
+ <Marker NAME="LHIP" SEGMENT="LeftUpLeg" RGB="255 255 0" POSITION="LHIP_L_Femur_X LHIP_L_Femur_Y LHIP_L_Femur_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.2" />
304
+ <Marker NAME="LKNE" SEGMENT="LeftUpLeg" RGB="255 255 0" POSITION="LKNE_L_Femur_X LKNE_L_Femur_Y LKNE_L_Femur_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="12.0" />
305
+ <Marker NAME="LKNI" SEGMENT="LeftUpLeg" RGB="255 255 0" POSITION="LKNI_L_Femur_X LKNI_L_Femur_Y LKNI_L_Femur_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="11.3" />
306
+ <Marker NAME="LSHN" SEGMENT="LeftLeg" RGB="255 255 0" POSITION="LSHN_L_Tibia_X LSHN_L_Tibia_Y LSHN_L_Tibia_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="11.7" />
307
+ <Marker NAME="LANK" SEGMENT="LeftLeg" RGB="255 255 0" POSITION="LANK_L_Tibia_X LANK_L_Tibia_Y LANK_L_Tibia_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="12.7" />
308
+ <Marker NAME="LHEL" SEGMENT="LeftFoot" RGB="255 255 0" POSITION="LHEL_L_Foot_X LHEL_L_Foot_Y LHEL_L_Foot_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="7.4" />
309
+ <Marker NAME="LMT5" SEGMENT="LeftFoot" RGB="255 255 0" POSITION="LMT5_L_Foot_X LMT5_L_Foot_Y LMT5_L_Foot_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="6.8" />
310
+ <Marker NAME="LMT1" SEGMENT="LeftFoot" RGB="255 255 0" POSITION="LMT1_L_Foot_X LMT1_L_Foot_Y LMT1_L_Foot_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="6.0" />
311
+ <Marker NAME="LTOE" SEGMENT="LeftToe" RGB="255 255 0" POSITION="LTOE_L_Toe_X LTOE_L_Toe_Y LTOE_L_Toe_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="6.4" />
312
+ <Marker NAME="RHIP" SEGMENT="RightUpLeg" RGB="0 255 0" POSITION="RHIP_R_Femur_X RHIP_R_Femur_Y RHIP_R_Femur_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="8.1" />
313
+ <Marker NAME="RKNE" SEGMENT="RightUpLeg" RGB="0 255 0" POSITION="RKNE_R_Femur_X RKNE_R_Femur_Y RKNE_R_Femur_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="11.4" />
314
+ <Marker NAME="RKNI" SEGMENT="RightUpLeg" RGB="0 255 0" POSITION="RKNI_R_Femur_X RKNI_R_Femur_Y RKNI_R_Femur_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="10.9" />
315
+ <Marker NAME="RSHN" SEGMENT="RightLeg" RGB="0 255 0" POSITION="RSHN_R_Tibia_X RSHN_R_Tibia_Y RSHN_R_Tibia_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="11.7" />
316
+ <Marker NAME="RANK" SEGMENT="RightLeg" RGB="0 255 0" POSITION="RANK_R_Tibia_X RANK_R_Tibia_Y RANK_R_Tibia_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="11.9" />
317
+ <Marker NAME="RHEL" SEGMENT="RightFoot" RGB="0 255 0" POSITION="RHEL_R_Foot_X RHEL_R_Foot_Y RHEL_R_Foot_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="6.4" />
318
+ <Marker NAME="RMT5" SEGMENT="RightFoot" RGB="0 255 0" POSITION="RMT5_R_Foot_X RMT5_R_Foot_Y RMT5_R_Foot_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="4.0" />
319
+ <Marker NAME="RMT1" SEGMENT="RightFoot" RGB="0 255 0" POSITION="RMT1_R_Foot_X RMT1_R_Foot_Y RMT1_R_Foot_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="6.5" />
320
+ <Marker NAME="RTOE" SEGMENT="RightToe" RGB="0 255 0" POSITION="RTOE_R_Toe_X RTOE_R_Toe_Y RTOE_R_Toe_Z" COVARIANCE="1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000" RADIUS="6.8" />
321
+ </Markers>
322
+ <Sticks>
323
+ <Stick MARKER1="LFWT" MARKER2="LBWT" RGB="255 255 0" />
324
+ <Stick MARKER1="LFWT" MARKER2="RFWT" RGB="150 150 0" />
325
+ <Stick MARKER1="LBWT" MARKER2="RBWT" RGB="150 150 0" />
326
+ <Stick MARKER1="LBWT" MARKER2="T10" RGB="150 150 0" />
327
+ <Stick MARKER1="RFWT" MARKER2="RBWT" RGB="0 255 0" />
328
+ <Stick MARKER1="RBWT" MARKER2="T10" RGB="150 150 0" />
329
+ <Stick MARKER1="RMWT" MARKER2="LMWT" RGB="150 150 0" />
330
+ <Stick MARKER1="LKNE" MARKER2="LFWT" RGB="255 255 0" />
331
+ <Stick MARKER1="LKNE" MARKER2="LBWT" RGB="255 255 0" />
332
+ <Stick MARKER1="LKNE" MARKER2="LKNI" RGB="255 255 0" />
333
+ <Stick MARKER1="LKNI" MARKER2="LSHN" RGB="255 255 0" />
334
+ <Stick MARKER1="LHIP" MARKER2="LFWT" RGB="255 255 0" />
335
+ <Stick MARKER1="LANK" MARKER2="LKNE" RGB="255 255 0" />
336
+ <Stick MARKER1="LANK" MARKER2="LHEL" RGB="255 255 0" />
337
+ <Stick MARKER1="LANK" MARKER2="LMT5" RGB="255 255 0" />
338
+ <Stick MARKER1="LANK" MARKER2="LTOE" RGB="255 255 0" />
339
+ <Stick MARKER1="LMT5" MARKER2="LMT1" RGB="255 255 0" />
340
+ <Stick MARKER1="LMT5" MARKER2="LTOE" RGB="255 255 0" />
341
+ <Stick MARKER1="LMT1" MARKER2="LTOE" RGB="255 255 0" />
342
+ <Stick MARKER1="RKNE" MARKER2="RFWT" RGB="0 255 0" />
343
+ <Stick MARKER1="RKNE" MARKER2="RBWT" RGB="0 255 0" />
344
+ <Stick MARKER1="RKNE" MARKER2="RKNI" RGB="0 255 0" />
345
+ <Stick MARKER1="RKNI" MARKER2="RSHN" RGB="0 255 0" />
346
+ <Stick MARKER1="RHIP" MARKER2="RFWT" RGB="0 255 0" />
347
+ <Stick MARKER1="RANK" MARKER2="RKNE" RGB="0 255 0" />
348
+ <Stick MARKER1="RANK" MARKER2="RHEL" RGB="0 255 0" />
349
+ <Stick MARKER1="RANK" MARKER2="RMT5" RGB="0 255 0" />
350
+ <Stick MARKER1="RANK" MARKER2="RTOE" RGB="0 255 0" />
351
+ <Stick MARKER1="RMT5" MARKER2="RMT1" RGB="0 255 0" />
352
+ <Stick MARKER1="RMT5" MARKER2="RTOE" RGB="0 255 0" />
353
+ <Stick MARKER1="RMT1" MARKER2="RTOE" RGB="0 255 0" />
354
+ <Stick MARKER1="STRN" MARKER2="T10" RGB="150 150 0" />
355
+ <Stick MARKER1="C7" MARKER2="T10" RGB="150 150 0" />
356
+ <Stick MARKER1="C7" MARKER2="LBHD" RGB="150 150 0" />
357
+ <Stick MARKER1="C7" MARKER2="RBHD" RGB="150 150 0" />
358
+ <Stick MARKER1="LFHD" MARKER2="LBHD" RGB="255 255 0" />
359
+ <Stick MARKER1="LFHD" MARKER2="RFHD" RGB="150 150 0" />
360
+ <Stick MARKER1="LFHD" MARKER2="ARIEL" RGB="150 150 0" />
361
+ <Stick MARKER1="LBHD" MARKER2="RBHD" RGB="150 150 0" />
362
+ <Stick MARKER1="LBHD" MARKER2="ARIEL" RGB="150 150 0" />
363
+ <Stick MARKER1="RFHD" MARKER2="RBHD" RGB="0 255 0" />
364
+ <Stick MARKER1="RFHD" MARKER2="ARIEL" RGB="150 150 0" />
365
+ <Stick MARKER1="RBHD" MARKER2="ARIEL" RGB="150 150 0" />
366
+ <Stick MARKER1="LFSH" MARKER2="CLAV" RGB="255 255 0" />
367
+ <Stick MARKER1="LFSH" MARKER2="STRN" RGB="255 255 0" />
368
+ <Stick MARKER1="LFSH" MARKER2="LBSH" RGB="255 255 0" />
369
+ <Stick MARKER1="LFSH" MARKER2="LELB" RGB="255 255 0" />
370
+ <Stick MARKER1="LFSH" MARKER2="LUPA" RGB="255 255 0" />
371
+ <Stick MARKER1="LBSH" MARKER2="C7" RGB="255 255 0" />
372
+ <Stick MARKER1="LBSH" MARKER2="T10" RGB="255 255 0" />
373
+ <Stick MARKER1="LBSH" MARKER2="LELB" RGB="255 255 0" />
374
+ <Stick MARKER1="LELB" MARKER2="LIEL" RGB="255 255 0" />
375
+ <Stick MARKER1="LELB" MARKER2="LOWR" RGB="255 255 0" />
376
+ <Stick MARKER1="LOWR" MARKER2="LIWR" RGB="255 255 0" />
377
+ <Stick MARKER1="LOWR" MARKER2="LOHAND" RGB="255 255 0" />
378
+ <Stick MARKER1="LIWR" MARKER2="LWRE" RGB="255 255 0" />
379
+ <Stick MARKER1="LOHAND" MARKER2="LIHAND" RGB="255 255 0" />
380
+ <Stick MARKER1="LIHAND" MARKER2="LIWR" RGB="255 255 0" />
381
+ <Stick MARKER1="RFSH" MARKER2="CLAV" RGB="0 255 0" />
382
+ <Stick MARKER1="RFSH" MARKER2="STRN" RGB="0 255 0" />
383
+ <Stick MARKER1="RFSH" MARKER2="RBSH" RGB="0 255 0" />
384
+ <Stick MARKER1="RFSH" MARKER2="RUPA" RGB="0 255 0" />
385
+ <Stick MARKER1="RBSH" MARKER2="C7" RGB="0 255 0" />
386
+ <Stick MARKER1="RBSH" MARKER2="T10" RGB="0 255 0" />
387
+ <Stick MARKER1="RBSH" MARKER2="RELB" RGB="0 255 0" />
388
+ <Stick MARKER1="RELB" MARKER2="RIEL" RGB="0 255 0" />
389
+ <Stick MARKER1="RELB" MARKER2="ROWR" RGB="0 255 0" />
390
+ <Stick MARKER1="RELB" MARKER2="RFSH" RGB="0 255 0" />
391
+ <Stick MARKER1="ROWR" MARKER2="RIWR" RGB="0 255 0" />
392
+ <Stick MARKER1="ROWR" MARKER2="ROHAND" RGB="0 255 0" />
393
+ <Stick MARKER1="RIWR" MARKER2="RIHAND" RGB="0 255 0" />
394
+ <Stick MARKER1="RWRE" MARKER2="RIWR" RGB="0 255 0" />
395
+ <Stick MARKER1="ROHAND" MARKER2="RIHAND" RGB="0 255 0" />
396
+ </Sticks>
397
+ </MarkerSet>
398
+ </KinematicModel>
share/doc/dart/data/vsk/test/empty.vsk ADDED
@@ -0,0 +1,3 @@
1
+ <?xml version="1.0" standalone="yes"?>
2
+ <KinematicModel>
3
+ </KinematicModel>
share/doc/dart/examples/CMakeLists.txt ADDED
@@ -0,0 +1,44 @@
1
+ cmake_minimum_required(VERSION 3.22.1)
2
+
3
+ project(dart-examples)
4
+
5
+ # None GUI examples
6
+ add_subdirectory(hello_world)
7
+ add_subdirectory(speed_test)
8
+
9
+ # OSG renderer examples
10
+ add_subdirectory(add_delete_skels)
11
+ add_subdirectory(atlas_puppet)
12
+ add_subdirectory(atlas_simbicon)
13
+ add_subdirectory(biped_stand)
14
+ add_subdirectory(box_stacking)
15
+ add_subdirectory(boxes)
16
+ add_subdirectory(drag_and_drop)
17
+ add_subdirectory(empty)
18
+ add_subdirectory(hardcoded_design)
19
+ add_subdirectory(heightmap)
20
+ add_subdirectory(human_joint_limits)
21
+ add_subdirectory(hybrid_dynamics)
22
+ add_subdirectory(hubo_puppet)
23
+ add_subdirectory(imgui)
24
+ add_subdirectory(joint_constraints)
25
+ add_subdirectory(mixed_chain)
26
+ add_subdirectory(operational_space_control)
27
+ if(HAVE_OCTOMAP)
28
+ add_subdirectory(point_cloud)
29
+ endif()
30
+ # TODO: Re-enable when rerun example has source files
31
+ # add_subdirectory(rerun)
32
+ add_subdirectory(rigid_chain)
33
+ add_subdirectory(rigid_cubes)
34
+ add_subdirectory(rigid_loop)
35
+ add_subdirectory(rigid_shapes)
36
+ add_subdirectory(simple_frames)
37
+ add_subdirectory(simulation_event_handler)
38
+ add_subdirectory(soft_bodies)
39
+ add_subdirectory(tinkertoy)
40
+ add_subdirectory(vehicle)
41
+ add_subdirectory(wam_ikfast)
42
+
43
+ # MJCF model based examples
44
+ add_subdirectory(fetch)
share/doc/dart/examples/README.md ADDED
@@ -0,0 +1,33 @@
1
+ # DART Examples README
2
+
3
+ ## Build Each Example
4
+
5
+ Copy the subdirectory to your workspace and follow the instruction of README.md
6
+ in the subdirectory.
7
+
8
+ ## Build Examples as One Project
9
+
10
+ ### Build Instructions
11
+
12
+ This project is dependent on DART. Please make sure a proper version of DART is
13
+ installed before building this project.
14
+
15
+ Copy this directory to your workspace (e.g., in Linux):
16
+
17
+ $ cp -r examples /your/workspace/directory/dart_examples
18
+ $ cd /your/workspace/directory/dart_examples
19
+
20
+ From the workspace directory:
21
+
22
+ $ mkdir build
23
+ $ cd build
24
+ $ cmake ..
25
+ $ make
26
+
27
+ ### Execute Instructions
28
+
29
+ Launch the each executable from the build directory above (e.g.,):
30
+
31
+ $ ./hello_world
32
+
33
+ Follow the instructions detailed in the console.
share/doc/dart/examples/add_delete_skels/CMakeLists.txt ADDED
@@ -0,0 +1,19 @@
1
+ cmake_minimum_required(VERSION 3.22.1)
2
+
3
+ get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
4
+
5
+ project(${example_name})
6
+
7
+ set(required_components collision-bullet utils-urdf gui-osg)
8
+ set(required_libraries dart dart-collision-bullet dart-utils-urdf dart-gui-osg)
9
+
10
+ if(DART_IN_SOURCE_BUILD)
11
+ dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})
12
+ return()
13
+ endif()
14
+
15
+ find_package(DART 6.15.0 REQUIRED COMPONENTS ${required_components} CONFIG)
16
+
17
+ file(GLOB srcs "*.cpp" "*.hpp")
18
+ add_executable(${example_name} ${srcs})
19
+ target_link_libraries(${example_name} PUBLIC ${required_libraries})