dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

share/doc/dart/examples/drag_and_drop/main.cpp

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+/*
+ * 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 <dart/gui/osg/osg.hpp>
+
+#include <dart/dart.hpp>
+
+using namespace dart::dynamics;
+
+int main()
+{
+  dart::simulation::WorldPtr world(new dart::simulation::World);
+
+  Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
+
+  tf.translation() = Eigen::Vector3d(4, -4, 0);
+  dart::gui::osg::InteractiveFramePtr frame(
+      new dart::gui::osg::InteractiveFrame(
+          Frame::World(), "interactive frame", tf, 2.0));
+  world->addSimpleFrame(frame);
+
+  tf.translation() = Eigen::Vector3d(-4, 4, 0);
+  SimpleFramePtr draggable(new SimpleFrame(frame.get(), "draggable", tf));
+  draggable->setShape(std::make_shared<BoxShape>(Eigen::Vector3d(1, 1, 1)));
+  draggable->getVisualAspect(true)->setColor(Eigen::Vector3d(0.9, 0.0, 0.0));
+  world->addSimpleFrame(draggable);
+
+  tf.translation() = Eigen::Vector3d(8.0, 0.0, 0.0);
+  SimpleFramePtr x_marker(new SimpleFrame(Frame::World(), "X", tf));
+  std::shared_ptr<BoxShape> x_shape(
+      new BoxShape(Eigen::Vector3d(0.2, 0.2, 0.2)));
+  x_marker->setShape(x_shape);
+  x_marker->getVisualAspect(true)->setColor(Eigen::Vector3d(0.9, 0.0, 0.0));
+  world->addSimpleFrame(x_marker);
+
+  tf.translation() = Eigen::Vector3d(0.0, 8.0, 0.0);
+  SimpleFramePtr y_marker(new SimpleFrame(Frame::World(), "Y", tf));
+  std::shared_ptr<BoxShape> y_shape(
+      new BoxShape(Eigen::Vector3d(0.2, 0.2, 0.2)));
+  y_marker->setShape(y_shape);
+  y_marker->getVisualAspect(true)->setColor(Eigen::Vector3d(0.0, 0.9, 0.0));
+  world->addSimpleFrame(y_marker);
+
+  tf.translation() = Eigen::Vector3d(0.0, 0.0, 8.0);
+  SimpleFramePtr z_marker(new SimpleFrame(Frame::World(), "Z", tf));
+  std::shared_ptr<BoxShape> z_shape(
+      new BoxShape(Eigen::Vector3d(0.2, 0.2, 0.2)));
+  z_marker->setShape(z_shape);
+  z_marker->getVisualAspect(true)->setColor(Eigen::Vector3d(0.0, 0.0, 0.9));
+  world->addSimpleFrame(z_marker);
+
+  ::osg::ref_ptr<dart::gui::osg::WorldNode> node
+      = new dart::gui::osg::WorldNode(world);
+
+  dart::gui::osg::Viewer viewer;
+  viewer.addWorldNode(node);
+  viewer.enableDragAndDrop(frame.get());
+  viewer.enableDragAndDrop(draggable.get());
+
+  viewer.addInstructionText("\nCtrl + Left-click: Rotate the box\n");
+  std::cout << viewer.getInstructions() << std::endl;
+
+  viewer.setUpViewInWindow(0, 0, 640, 480);
+
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(20.0, 17.0, 17.0),
+      ::osg::Vec3(0.0, 0.0, 0.0),
+      ::osg::Vec3(0, 0, 1));
+  viewer.setCameraManipulator(viewer.getCameraManipulator());
+
+  viewer.run();
+}

share/doc/dart/examples/empty/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})

share/doc/dart/examples/empty/README.md

@@ -0,0 +1,20 @@
+This project is dependent on DART. Please make sure a proper version of DART is 
+installed before building this project.
+
+## Build Instructions
+
+From this directory:
+
+    $ mkdir build
+    $ cd build
+    $ cmake ..
+    $ make
+
+## Execute Instructions
+
+Launch the executable from the build directory above:
+
+    $ ./{generated_executable}
+
+Follow the instructions detailed in the console.
+

share/doc/dart/examples/empty/main.cpp

@@ -0,0 +1,164 @@
+/*
+ * 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 <dart/gui/osg/osg.hpp>
+
+#include <dart/dart.hpp>
+
+//==============================================================================
+class CustomWorldNode : public dart::gui::osg::RealTimeWorldNode
+{
+public:
+  CustomWorldNode(const dart::simulation::WorldPtr& world = nullptr)
+    : dart::gui::osg::RealTimeWorldNode(world)
+  {
+    // Set up the customized WorldNode
+  }
+
+  void customPreRefresh()
+  {
+    // Use this function to execute custom code before each time that the
+    // window is rendered. This function can be deleted if it does not need
+    // to be used.
+  }
+
+  void customPostRefresh()
+  {
+    // Use this function to execute custom code after each time that the
+    // window is rendered. This function can be deleted if it does not need
+    // to be used.
+  }
+
+  void customPreStep()
+  {
+    // Use this function to execute custom code before each simulation time
+    // step is performed. This function can be deleted if it does not need
+    // to be used.
+  }
+
+  void customPostStep()
+  {
+    // Use this function to execute custom code after each simulation time
+    // step is performed. This function can be deleted if it does not need
+    // to be used.
+  }
+};
+
+//==============================================================================
+class CustomEventHandler : public osgGA::GUIEventHandler
+{
+public:
+  CustomEventHandler(/*Pass in any necessary arguments*/)
+  {
+    // Set up the customized event handler
+  }
+
+  virtual bool handle(
+      const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter&) override
+  {
+    if (ea.getEventType() == osgGA::GUIEventAdapter::KEYDOWN) {
+      if (ea.getKey() == 'q') {
+        std::cout << "Lowercase q pressed" << std::endl;
+        return true;
+      } else if (ea.getKey() == 'Q') {
+        std::cout << "Capital Q pressed" << std::endl;
+        return true;
+      } else if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Left) {
+        std::cout << "Left arrow key pressed" << std::endl;
+        return true;
+      } else if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Right) {
+        std::cout << "Right arrow key pressed" << std::endl;
+        return true;
+      }
+    } else if (ea.getEventType() == osgGA::GUIEventAdapter::KEYUP) {
+      if (ea.getKey() == 'q') {
+        std::cout << "Lowercase q released" << std::endl;
+        return true;
+      } else if (ea.getKey() == 'Q') {
+        std::cout << "Capital Q released" << std::endl;
+        return true;
+      } else if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Left) {
+        std::cout << "Left arrow key released" << std::endl;
+        return true;
+      } else if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Right) {
+        std::cout << "Right arrow key released" << std::endl;
+        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;
+  }
+};
+
+//==============================================================================
+int main()
+{
+  // Create a world
+  dart::simulation::WorldPtr world(new dart::simulation::World);
+
+  // Add a target object to the world
+  dart::gui::osg::InteractiveFramePtr target(
+      new dart::gui::osg::InteractiveFrame(dart::dynamics::Frame::World()));
+  world->addSimpleFrame(target);
+
+  // Wrap a WorldNode around it
+  osg::ref_ptr<CustomWorldNode> node = new CustomWorldNode(world);
+
+  // Create a Viewer and set it up with the WorldNode
+  dart::gui::osg::Viewer viewer;
+  viewer.addWorldNode(node);
+
+  // Active the drag-and-drop feature for the target
+  viewer.enableDragAndDrop(target.get());
+
+  // Pass in the custom event handler
+  viewer.addEventHandler(new CustomEventHandler);
+
+  // Set up the window to be 640x480
+  viewer.setUpViewInWindow(0, 0, 640, 480);
+
+  // Adjust the viewpoint of the Viewer
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(2.57, 3.14, 1.64),
+      ::osg::Vec3(0.00, 0.00, 0.00),
+      ::osg::Vec3(-0.24, -0.25, 0.94));
+  // We need to re-dirty the CameraManipulator by passing it into the viewer
+  // again, so that the viewer knows to update its HomePosition setting
+  viewer.setCameraManipulator(viewer.getCameraManipulator());
+
+  // Begin running the application loop
+  viewer.run();
+}

share/doc/dart/examples/fetch/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 collision-bullet)
+set(required_libraries dart dart-utils-urdf dart-gui-osg dart-collision-bullet)
+
+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})

share/doc/dart/examples/fetch/README.md

@@ -0,0 +1,20 @@
+This project is dependent on DART. Please make sure a proper version of DART is 
+installed before building this project.
+
+## Build Instructions
+
+From this directory:
+
+    $ mkdir build
+    $ cd build
+    $ cmake ..
+    $ make
+
+## Execute Instructions
+
+Launch the executable from the build directory above:
+
+    $ ./{generated_executable}
+
+Follow the instructions detailed in the console.
+

share/doc/dart/examples/fetch/main.cpp

@@ -0,0 +1,246 @@
+/*
+ * 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 <dart/gui/osg/osg.hpp>
+
+#include <dart/utils/utils.hpp>
+
+#include <dart/collision/bullet/bullet.hpp>
+
+#include <dart/dart.hpp>
+
+using namespace dart;
+
+class FetchWorldNode : public gui::osg::RealTimeWorldNode
+{
+public:
+  explicit FetchWorldNode(
+      simulation::WorldPtr world,
+      dynamics::SkeletonPtr robot,
+      dynamics::BodyNode* mocap,
+      dynamics::Frame* interactiveFrame)
+    : gui::osg::RealTimeWorldNode(std::move(world)),
+      mRobot(std::move(robot)),
+      mMocap(mocap),
+      mInteractiveFrame(interactiveFrame)
+  {
+    // Do nothing
+  }
+
+  void customPreStep() override
+  {
+    if (!mRobot || !mMocap || !mInteractiveFrame)
+      return;
+
+    mMocap->getParentJoint()->setTransformFromParentBodyNode(
+        mInteractiveFrame->getTransform());
+  }
+
+protected:
+  dynamics::SkeletonPtr mRobot;
+  dynamics::BodyNode* mMocap;
+  dynamics::Frame* mInteractiveFrame;
+};
+
+class PointCloudWidget : public dart::gui::osg::ImGuiWidget
+{
+public:
+  PointCloudWidget(
+      dart::gui::osg::ImGuiViewer* viewer,
+      FetchWorldNode* node,
+      gui::osg::GridVisual* grid)
+    : mViewer(viewer), mNode(node), mGrid(grid)
+  {
+    // Do nothing
+  }
+
+  void render() override
+  {
+    ImGui::SetNextWindowPos(ImVec2(10, 20));
+    ImGui::SetNextWindowSize(ImVec2(360, 600));
+    ImGui::SetNextWindowBgAlpha(0.5f);
+    if (!ImGui::Begin(
+            "Fetch robot example",
+            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("Point cloud and voxel grid rendering example");
+    ImGui::Spacing();
+    ImGui::TextWrapped(
+        "The whole body motion of the Fetch robot is determined by the "
+        "location of the end-effector. The end-effector simply follows the "
+        "invisible dummy object where the position is indicated at the cross "
+        "of the two tranparent green bars.");
+
+    if (ImGui::CollapsingHeader("Help")) {
+      ImGui::PushTextWrapPos(ImGui::GetCursorPos().x + 320);
+      ImGui::Text("User Guid:\n");
+      ImGui::Text("%s", mViewer->getInstructions().c_str());
+      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);
+      }
+    }
+
+    ImGui::End();
+  }
+
+protected:
+  osg::ref_ptr<dart::gui::osg::ImGuiViewer> mViewer;
+  osg::ref_ptr<FetchWorldNode> mNode;
+  osg::ref_ptr<gui::osg::GridVisual> mGrid;
+};
+
+int main()
+{
+  using namespace math::suffixes;
+
+  // Create a world from ant.xml
+  auto world = utils::MjcfParser::readWorld(
+      "dart://sample/mjcf/openai/robotics/fetch/pick_and_place.xml");
+  assert(world);
+  world->getConstraintSolver()->setCollisionDetector(
+      collision::BulletCollisionDetector::create());
+
+  // Get Fetch robot and set properties
+  auto robot = world->getSkeleton("robot0:base_link");
+  assert(robot);
+  robot->getJoint(0)->setActuatorType(dynamics::Joint::ActuatorType::LOCKED);
+  robot->eachDof(
+      [](dynamics::DegreeOfFreedom* dof) { dof->setSpringStiffness(1e+3); });
+  robot->getJoint("robot0:torso_lift_joint")->setSpringStiffness(0, 1e+7);
+
+  // Set initial base positions
+  robot->setPosition(0, 0.405);
+  robot->setPosition(1, 0.480);
+  robot->setPosition(2, 0.000);
+
+  // Set initial arm positions;
+  robot->setPosition(6, 0.01);
+  robot->setPosition(7, -0.73);
+  robot->setPosition(8, 0.00);
+  robot->setPosition(9, 1.64);
+  robot->setPosition(10, 0.0);
+  robot->setPosition(11, 0.66);
+  robot->setPosition(12, 0.01);
+
+  // Get object and set initial object transform
+  auto object = world->getSkeleton("object0");
+  assert(object);
+  object->setPosition(3, 1.25);
+  object->setPosition(4, 0.53);
+  object->setPosition(5, 0.40);
+
+  // Get mocap object
+  auto mocap = world->getSkeleton("robot0:mocap");
+  assert(mocap);
+
+  // Reset the relative transform constraint of mocap object and fetch's EE
+  auto weldJointConstraint
+      = std::dynamic_pointer_cast<constraint::WeldJointConstraint>(
+          world->getConstraintSolver()->getConstraint(0));
+  assert(weldJointConstraint);
+  weldJointConstraint->setRelativeTransform(Eigen::Isometry3d::Identity());
+
+  // Create interactive frame to control the EE of Fetch
+  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+  tf.translation() = Eigen::Vector3d(1.3, 0.75, 0.50);
+  tf.linear()
+      = Eigen::AngleAxisd(0.5_pi, Eigen::Vector3d::UnitY()).toRotationMatrix();
+  auto frame = std::make_shared<gui::osg::InteractiveFrame>(
+      dynamics::Frame::World(), "interactive frame", tf, 0.2);
+  world->addSimpleFrame(frame);
+
+  // Wrap a WorldNode around it
+  ::osg::ref_ptr<FetchWorldNode> node
+      = new FetchWorldNode(world, robot, mocap->getRootBodyNode(), frame.get());
+
+  // Create a Viewer and set it up with the WorldNode
+  auto viewer = gui::osg::ImGuiViewer();
+  viewer.addWorldNode(node);
+
+  // Create grid
+  ::osg::ref_ptr<gui::osg::GridVisual> grid = new gui::osg::GridVisual();
+  grid->setOffset(Eigen::Vector3d(1.3, 0.75, 0));
+  viewer.addAttachment(grid);
+
+  // Add control widget for fetch
+  viewer.getImGuiHandler()->addWidget(
+      std::make_shared<PointCloudWidget>(&viewer, node, grid));
+
+  viewer.enableDragAndDrop(frame.get());
+
+  // Set up the window to be 1280x960
+  viewer.setUpViewInWindow(0, 0, 1280, 960);
+
+  // Adjust the viewpoint of the Viewer
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(4.0f, 4.0f, 2.5f),
+      ::osg::Vec3(0.1f, -0.3f, 0.3f),
+      ::osg::Vec3(0.f, 0.f, 1.f));
+
+  // We need to re-dirty the CameraManipulator by passing it into the viewer
+  // again, so that the viewer knows to update its HomePosition setting
+  viewer.setCameraManipulator(viewer.getCameraManipulator());
+
+  // Begin running the application loop
+  viewer.run();
+
+  return 0;
+}

share/doc/dart/examples/hardcoded_design/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})

share/doc/dart/examples/hardcoded_design/HardcodedEventHandler.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 "HardcodedEventHandler.hpp"
+
+#include <iostream>
+
+HardcodedEventHandler::HardcodedEventHandler(dart::dynamics::SkeletonPtr _skel)
+  : mSkel(_skel), mInverse(false)
+{
+}
+
+bool HardcodedEventHandler::handle(
+    const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& /*aa*/)
+{
+  if (ea.getEventType() != osgGA::GUIEventAdapter::KEYDOWN)
+    return false;
+
+  switch (ea.getKey()) {
+    case '-': {
+      mInverse = !mInverse;
+      std::cout << "Direction inverted: "
+                << (mInverse ? "negative" : "positive") << std::endl;
+      return true;
+    }
+    case '1':
+    case '2':
+    case '3': {
+      std::size_t dofIdx = ea.getKey() - '1';
+      if (dofIdx < mSkel->getNumDofs()) {
+        Eigen::VectorXd pose = mSkel->getPositions();
+        pose(dofIdx) = pose(dofIdx) + (mInverse ? -mDOF : mDOF);
+        mSkel->setPositions(pose);
+        std::cout << "Updated pose DOF " << dofIdx << ": " << pose.transpose()
+                  << std::endl;
+      }
+      return true;
+    }
+    default:
+      return false;
+  }
+}