dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

share/doc/dart/examples/atlas_simbicon/AtlasSimbiconEventHandler.cpp

@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "AtlasSimbiconEventHandler.hpp"
+
+//==============================================================================
+AtlasSimbiconEventHandler::AtlasSimbiconEventHandler(
+    AtlasSimbiconWorldNode* node)
+  : mNode(node)
+{
+  // Do nothing
+}
+
+//==============================================================================
+bool AtlasSimbiconEventHandler::handle(
+    const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter&)
+{
+  if (ea.getEventType() == osgGA::GUIEventAdapter::KEYDOWN) {
+    if (ea.getKey() == 'r' || ea.getKey() == 'R') {
+      mNode->reset();
+      return true;
+    } else if (ea.getKey() == 'a' || ea.getKey() == 'A') {
+      mNode->pushForwardAtlas();
+      return true;
+    } else if (ea.getKey() == 's' || ea.getKey() == 'S') {
+      mNode->pushBackwardAtlas();
+      return true;
+    } else if (ea.getKey() == 'd' || ea.getKey() == 'D') {
+      mNode->pushLeftAtlas();
+      return true;
+    } else if (ea.getKey() == 'f' || ea.getKey() == 'F') {
+      mNode->pushRightAtlas();
+      return true;
+    }
+  }
+
+  // The return value should be 'true' if the input has been fully handled
+  // and should not be visible to any remaining event handlers. It should be
+  // false if the input has not been fully handled and should be viewed by
+  // any remaining event handlers.
+  return false;
+}

share/doc/dart/examples/atlas_simbicon/AtlasSimbiconEventHandler.hpp

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONEVENTHANDLER_HPP_
+#define DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONEVENTHANDLER_HPP_
+
+#include "AtlasSimbiconWorldNode.hpp"
+
+#include <dart/gui/osg/osg.hpp>
+
+#include <dart/utils/all.hpp>
+
+#include <dart/dart.hpp>
+
+class AtlasSimbiconEventHandler : public osgGA::GUIEventHandler
+{
+public:
+  AtlasSimbiconEventHandler(AtlasSimbiconWorldNode* node);
+
+  bool handle(
+      const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter&) override;
+
+protected:
+  ::osg::ref_ptr<AtlasSimbiconWorldNode> mNode;
+};
+
+#endif // DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONEVENTHANDLER_HPP_

share/doc/dart/examples/atlas_simbicon/AtlasSimbiconWidget.cpp

@@ -0,0 +1,187 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * This code incorporates portions of Open Dynamics Engine
+ *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
+ *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
+ *     Garage, Inc. All rights reserved.), which were released under
+ *     the same BSD license as below
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "AtlasSimbiconWidget.hpp"
+
+#include "AtlasSimbiconWorldNode.hpp"
+
+//==============================================================================
+AtlasSimbiconWidget::AtlasSimbiconWidget(
+    dart::gui::osg::ImGuiViewer* viewer, AtlasSimbiconWorldNode* node)
+  : mViewer(viewer),
+    mNode(node),
+    mGuiGravityAcc(9.81f),
+    mGravityAcc(mGuiGravityAcc),
+    mGuiHeadlights(true),
+    mGuiControlMode(2),
+    mControlMode(2)
+{
+  // Do nothing
+}
+
+//==============================================================================
+void AtlasSimbiconWidget::render()
+{
+  ImGui::SetNextWindowPos(ImVec2(10, 20));
+  ImGui::SetNextWindowSize(ImVec2(360, 400));
+  ImGui::SetNextWindowBgAlpha(0.5f);
+  if (!ImGui::Begin(
+          "Atlas Control",
+          nullptr,
+          ImGuiWindowFlags_MenuBar | ImGuiWindowFlags_HorizontalScrollbar)) {
+    // Early out if the window is collapsed, as an optimization.
+    ImGui::End();
+    return;
+  }
+
+  // Menu
+  if (ImGui::BeginMenuBar()) {
+    if (ImGui::BeginMenu("Menu")) {
+      if (ImGui::MenuItem("Exit"))
+        mViewer->setDone(true);
+      ImGui::EndMenu();
+    }
+    if (ImGui::BeginMenu("Help")) {
+      if (ImGui::MenuItem("About DART"))
+        mViewer->showAbout();
+      ImGui::EndMenu();
+    }
+    ImGui::EndMenuBar();
+  }
+
+  ImGui::Text("Altas robot controlled by Simbicon");
+  ImGui::Spacing();
+
+  if (ImGui::CollapsingHeader("Help")) {
+    ImGui::PushTextWrapPos(ImGui::GetCursorPos().x + 320);
+    ImGui::Text("User Guid:\n");
+    ImGui::Text("%s", mViewer->getInstructions().c_str());
+    ImGui::Text("Press [r] to reset Atlas to the initial position.\n");
+    ImGui::Text("Press [a] to push forward Atlas toroso.\n");
+    ImGui::Text("Press [s] to push backward Atlas toroso.\n");
+    ImGui::Text("Press [d] to push left Atlas toroso.\n");
+    ImGui::Text("Press [f] to push right Atlas toroso.\n");
+    ImGui::Text("Left-click on a block to select it.\n");
+    ImGui::PopTextWrapPos();
+  }
+
+  if (ImGui::CollapsingHeader("Simulation", ImGuiTreeNodeFlags_DefaultOpen)) {
+    int e = mViewer->isSimulating() ? 0 : 1;
+    if (mViewer->isAllowingSimulation()) {
+      if (ImGui::RadioButton("Play", &e, 0) && !mViewer->isSimulating())
+        mViewer->simulate(true);
+      ImGui::SameLine();
+      if (ImGui::RadioButton("Pause", &e, 1) && mViewer->isSimulating())
+        mViewer->simulate(false);
+    }
+  }
+
+  if (ImGui::CollapsingHeader(
+          "World Options", ImGuiTreeNodeFlags_DefaultOpen)) {
+    // Gravity
+    ImGui::SliderFloat("Gravity Acc.", &mGuiGravityAcc, 5.0, 20.0, "-%.2f");
+    setGravity(mGuiGravityAcc);
+
+    ImGui::Spacing();
+
+    // Headlights
+    mGuiHeadlights = mViewer->checkHeadlights();
+    if (ImGui::Checkbox("Headlights On/Off", &mGuiHeadlights)) {
+      mViewer->switchHeadlights(mGuiHeadlights);
+    }
+
+    // Shadow
+    mShadow = mNode->isShadowed();
+    if (ImGui::Checkbox("Shadow On/Off", &mShadow)) {
+      if (mShadow)
+        mNode->showShadow();
+      else
+        mNode->hideShadow();
+    }
+
+    // Depth
+    if (ImGui::Checkbox("Depth mode", &mDepthMode)) {
+      if (mDepthMode)
+        mViewer->setCameraMode(dart::gui::osg::CameraMode::DEPTH);
+      else
+        mViewer->setCameraMode(dart::gui::osg::CameraMode::RGBA);
+    }
+  }
+
+  if (ImGui::CollapsingHeader(
+          "Atlas Simbicon Options", ImGuiTreeNodeFlags_DefaultOpen)) {
+    const auto reset = ImGui::Button("Reset Atlas");
+    if (reset)
+      mNode->reset();
+
+    ImGui::Spacing();
+
+    // Stride
+    ImGui::RadioButton("No Control", &mGuiControlMode, 0);
+    ImGui::RadioButton("Short-Stride Walking", &mGuiControlMode, 1);
+    ImGui::RadioButton("Normal-Stride Walking", &mGuiControlMode, 2);
+
+    if (mGuiControlMode != mControlMode) {
+      switch (mGuiControlMode) {
+        case 0:
+          mNode->switchToNoControl();
+          break;
+        case 1:
+          mNode->switchToShortStrideWalking();
+          break;
+        case 2:
+          mNode->switchToNormalStrideWalking();
+          break;
+      }
+
+      mControlMode = mGuiControlMode;
+    }
+  }
+
+  ImGui::End();
+}
+
+//==============================================================================
+void AtlasSimbiconWidget::setGravity(float gravity)
+{
+  if (mGravityAcc == gravity)
+    return;
+
+  mGravityAcc = gravity;
+  mNode->getWorld()->setGravity(-mGravityAcc * Eigen::Vector3d::UnitY());
+}

share/doc/dart/examples/atlas_simbicon/AtlasSimbiconWidget.hpp

@@ -0,0 +1,85 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * This code incorporates portions of Open Dynamics Engine
+ *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
+ *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
+ *     Garage, Inc. All rights reserved.), which were released under
+ *     the same BSD license as below
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWIDGET_HPP_
+#define DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWIDGET_HPP_
+
+#include "dart/gui/osg/ImGuiViewer.hpp"
+#include "dart/gui/osg/ImGuiWidget.hpp"
+
+class AtlasSimbiconWorldNode;
+
+class AtlasSimbiconWidget : public dart::gui::osg::ImGuiWidget
+{
+public:
+  /// Constructor
+  AtlasSimbiconWidget(
+      dart::gui::osg::ImGuiViewer* viewer, AtlasSimbiconWorldNode* node);
+
+  // Documentation inherited
+  void render() override;
+
+protected:
+  void setGravity(float gravity);
+
+  ::osg::ref_ptr<dart::gui::osg::ImGuiViewer> mViewer;
+
+  ::osg::ref_ptr<AtlasSimbiconWorldNode> mNode;
+
+  float mGuiGravityAcc;
+
+  float mGravityAcc;
+
+  bool mGuiHeadlights;
+
+  bool mShadow;
+
+  /// Whether render in depth mode
+  bool mDepthMode = false;
+
+  /// Control mode value for GUI
+  int mGuiControlMode;
+
+  /// Actual control mode
+  ///   - 0: No control
+  ///   - 1: Short-stride walking control
+  ///   - 1: Normal-stride walking control
+  int mControlMode;
+};
+
+#endif // DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWIDGET_HPP_

share/doc/dart/examples/atlas_simbicon/AtlasSimbiconWorldNode.cpp

@@ -0,0 +1,134 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "AtlasSimbiconWorldNode.hpp"
+
+#include <osgShadow/ShadowMap>
+
+//==============================================================================
+AtlasSimbiconWorldNode::AtlasSimbiconWorldNode(
+    const dart::simulation::WorldPtr& world,
+    const dart::dynamics::SkeletonPtr& atlas)
+  : dart::gui::osg::RealTimeWorldNode(world),
+    mExternalForce(Eigen::Vector3d::Zero()),
+    mForceDuration(0.0)
+{
+  assert(world);
+  assert(atlas);
+
+  mController.reset(new Controller(atlas, world->getConstraintSolver()));
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::customPreStep()
+{
+  auto pelvis = mController->getAtlasRobot()->getBodyNode("pelvis");
+  pelvis->addExtForce(mExternalForce);
+  mController->update();
+
+  if (mForceDuration > 0)
+    mForceDuration--;
+  else
+    mExternalForce.setZero();
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::reset()
+{
+  mExternalForce.setZero();
+  mController->resetRobot();
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::pushForwardAtlas(double force, int frames)
+{
+  mExternalForce.x() = force;
+  mForceDuration = frames;
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::pushBackwardAtlas(double force, int frames)
+{
+  mExternalForce.x() = -force;
+  mForceDuration = frames;
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::pushLeftAtlas(double force, int frames)
+{
+  mExternalForce.z() = force;
+  mForceDuration = frames;
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::pushRightAtlas(double force, int frames)
+{
+  mExternalForce.z() = -force;
+  mForceDuration = frames;
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::switchToNormalStrideWalking()
+{
+  mController->changeStateMachine("walking", mWorld->getTime());
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::switchToShortStrideWalking()
+{
+  mController->changeStateMachine("running", mWorld->getTime());
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::switchToNoControl()
+{
+  mController->changeStateMachine("standing", mWorld->getTime());
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::showShadow()
+{
+  auto shadow
+      = dart::gui::osg::WorldNode::createDefaultShadowTechnique(mViewer);
+  if (auto sm = dynamic_cast<::osgShadow::ShadowMap*>(shadow.get())) {
+    auto mapResolution = static_cast<short>(std::pow(2, 12));
+    sm->setTextureSize(::osg::Vec2s(mapResolution, mapResolution));
+  }
+
+  setShadowTechnique(shadow);
+}
+
+//==============================================================================
+void AtlasSimbiconWorldNode::hideShadow()
+{
+  setShadowTechnique(nullptr);
+}

share/doc/dart/examples/atlas_simbicon/AtlasSimbiconWorldNode.hpp

@@ -0,0 +1,75 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWORLDNODE_HPP_
+#define DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWORLDNODE_HPP_
+
+#include "Controller.hpp"
+
+#include <dart/gui/osg/osg.hpp>
+
+#include <dart/utils/all.hpp>
+
+#include <dart/dart.hpp>
+
+class AtlasSimbiconWorldNode : public dart::gui::osg::RealTimeWorldNode
+{
+public:
+  /// Constructor
+  AtlasSimbiconWorldNode(
+      const dart::simulation::WorldPtr& world,
+      const dart::dynamics::SkeletonPtr& atlas);
+
+  // Documentation inherited
+  void customPreStep() override;
+
+  void reset();
+
+  void pushForwardAtlas(double force = 500, int frames = 100);
+  void pushBackwardAtlas(double force = 500, int frames = 100);
+  void pushLeftAtlas(double force = 500, int frames = 100);
+  void pushRightAtlas(double force = 500, int frames = 100);
+
+  void switchToNormalStrideWalking();
+  void switchToShortStrideWalking();
+  void switchToNoControl();
+
+  void showShadow();
+  void hideShadow();
+
+protected:
+  std::unique_ptr<Controller> mController;
+  Eigen::Vector3d mExternalForce;
+  int mForceDuration;
+};
+
+#endif // DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWORLDNODE_HPP_

share/doc/dart/examples/atlas_simbicon/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.22.1)
+
+get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+
+project(${example_name})
+
+set(required_components utils-urdf gui-osg)
+set(required_libraries dart dart-utils-urdf dart-gui-osg)
+
+if(DART_IN_SOURCE_BUILD)
+  dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})
+  return()
+endif()
+
+find_package(DART 6.15.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+
+file(GLOB srcs "*.cpp" "*.hpp")
+add_executable(${example_name} ${srcs})
+target_link_libraries(${example_name} PUBLIC ${required_libraries})