dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

share/doc/dart/examples/joint_constraints/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 "Controller.hpp"
+
+#include <dart/gui/osg/osg.hpp>
+
+#include <dart/utils/utils.hpp>
+
+#include <dart/dart.hpp>
+
+#include <iostream>
+
+using namespace dart::common;
+using namespace dart::dynamics;
+using namespace dart::simulation;
+using namespace dart::gui;
+using namespace dart::gui::osg;
+using namespace dart::utils;
+using namespace dart::constraint;
+
+class JointConstraintsEventHandler : public ::osgGA::GUIEventHandler
+{
+public:
+  JointConstraintsEventHandler(const WorldPtr& world, Controller* controller)
+    : mWorld(world),
+      mController(controller),
+      mHarnessOn(false),
+      mForce(Eigen::Vector3d::Zero()),
+      mImpulseDuration(0)
+  {
+  }
+
+  bool handle(
+      const ::osgGA::GUIEventAdapter& ea, ::osgGA::GUIActionAdapter&) override
+  {
+    if (ea.getEventType() == ::osgGA::GUIEventAdapter::KEYDOWN) {
+      switch (ea.getKey()) {
+        case '1':
+          mForce[0] = 40;
+          mImpulseDuration = 100.0;
+          std::cout << "push forward" << std::endl;
+          return true;
+        case '2':
+          mForce[0] = -40;
+          mImpulseDuration = 100.0;
+          std::cout << "push backward" << std::endl;
+          return true;
+        case '3':
+          mForce[2] = 50;
+          mImpulseDuration = 100.0;
+          std::cout << "push right" << std::endl;
+          return true;
+        case '4':
+          mForce[2] = -50;
+          mImpulseDuration = 100.0;
+          std::cout << "push left" << std::endl;
+          return true;
+        case 'h':
+        case 'H':
+          toggleHarness();
+          return true;
+        default:
+          return false;
+      }
+    }
+    return false;
+  }
+
+  void toggleHarness()
+  {
+    mHarnessOn = !mHarnessOn;
+    if (mHarnessOn) {
+      BodyNode* bd = mWorld->getSkeleton(1)->getBodyNode("h_pelvis");
+      mWeldJoint = std::make_shared<WeldJointConstraint>(bd);
+      mWorld->getConstraintSolver()->addConstraint(mWeldJoint);
+      std::cout << "Harness on" << std::endl;
+    } else {
+      mWorld->getConstraintSolver()->removeConstraint(mWeldJoint);
+      std::cout << "Harness off" << std::endl;
+    }
+  }
+
+  Eigen::Vector3d getForce() const
+  {
+    return mForce;
+  }
+
+  int getImpulseDuration() const
+  {
+    return mImpulseDuration;
+  }
+
+  void decrementImpulseDuration()
+  {
+    mImpulseDuration--;
+    if (mImpulseDuration <= 0) {
+      mImpulseDuration = 0;
+      mForce.setZero();
+    }
+  }
+
+protected:
+  WorldPtr mWorld;
+  Controller* mController;
+  bool mHarnessOn;
+  std::shared_ptr<WeldJointConstraint> mWeldJoint;
+  Eigen::Vector3d mForce;
+  int mImpulseDuration;
+};
+
+class JointConstraintsWorld : public RealTimeWorldNode
+{
+public:
+  JointConstraintsWorld(
+      const WorldPtr& world,
+      Controller* controller,
+      JointConstraintsEventHandler* handler)
+    : RealTimeWorldNode(world), mController(controller), mHandler(handler)
+  {
+  }
+
+  void customPreStep() override
+  {
+    mWorld->getSkeleton(1)->getBodyNode("h_spine")->addExtForce(
+        mHandler->getForce());
+
+    mController->computeTorques(
+        mWorld->getSkeleton(1)->getPositions(),
+        mWorld->getSkeleton(1)->getVelocities());
+    mWorld->getSkeleton(1)->setForces(mController->getTorques());
+
+    mHandler->decrementImpulseDuration();
+  }
+
+  void customPostStep() override
+  {
+    // Note: Arrow visualization for force could be added through OSG mechanisms
+    // For now, we just apply the force in customPreStep
+  }
+
+protected:
+  Controller* mController;
+  JointConstraintsEventHandler* mHandler;
+};
+
+int main(int /*argc*/, char* /*argv*/[])
+{
+  // Create and initialize the world
+  WorldPtr myWorld = SkelParser::readWorld("dart://sample/skel/fullbody1.skel");
+  assert(myWorld != nullptr);
+
+  Eigen::Vector3d gravity(0.0, -9.81, 0.0);
+  myWorld->setGravity(gravity);
+
+  std::vector<std::size_t> genCoordIds;
+  genCoordIds.push_back(1);  // global orientation y
+  genCoordIds.push_back(4);  // global position y
+  genCoordIds.push_back(6);  // left hip
+  genCoordIds.push_back(9);  // left knee
+  genCoordIds.push_back(10); // left ankle
+  genCoordIds.push_back(13); // right hip
+  genCoordIds.push_back(16); // right knee
+  genCoordIds.push_back(17); // right ankle
+  genCoordIds.push_back(21); // lower back
+  Eigen::VectorXd initConfig(9);
+  initConfig << -0.1, 0.2, 0.2, -0.5, 0.3, 0.2, -0.5, 0.3, -0.1;
+  myWorld->getSkeleton(1)->setPositions(genCoordIds, initConfig);
+
+  // Create controller
+  Controller* myController = new Controller(
+      myWorld->getSkeleton(1),
+      myWorld->getConstraintSolver(),
+      myWorld->getTimeStep());
+
+  // Create event handler
+  auto handler = new JointConstraintsEventHandler(myWorld, myController);
+
+  // Create a custom WorldNode with joint constraints behavior
+  ::osg::ref_ptr<JointConstraintsWorld> node
+      = new JointConstraintsWorld(myWorld, myController, handler);
+
+  // Create a Viewer and set it up with the WorldNode
+  auto viewer = Viewer();
+  viewer.addWorldNode(node);
+  viewer.addEventHandler(handler);
+
+  // Print instructions
+  viewer.addInstructionText("'1'-'4': programmed perturbations\n");
+  viewer.addInstructionText("'h': toggle harness on/off\n");
+  viewer.addInstructionText("space bar: simulation on/off\n");
+  std::cout << viewer.getInstructions() << std::endl;
+
+  // Set up the window to be 640x480
+  viewer.setUpViewInWindow(0, 0, 640, 480);
+
+  // Adjust the viewpoint of the Viewer
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(5.0f, 3.0f, 3.0f),
+      ::osg::Vec3(0.0f, 0.0f, 0.0f),
+      ::osg::Vec3(0.0f, 1.0f, 0.0f));
+
+  // 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();
+
+  delete myController;
+
+  return 0;
+}

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

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+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/mixed_chain/README.md

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+# Mixed Chain Example
+
+This project is dependent on DART with OSG support. Please make sure a proper version of DART is installed with the gui-osg component 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:
+
+    $ ./mixed_chain
+
+This example demonstrates simulation of articulated bodies consisting of both rigid bodies and soft bodies in a mixed chain configuration. The example loads a world containing articulated bodies with 10 bodies and allows interactive force application to soft body nodes.
+
+Key features demonstrated:
+- Mixed rigid-soft body chain simulation
+- Interactive force application to soft body nodes
+- Real-time visualization using OpenSceneGraph (OSG)
+- Soft body dynamics with external forces
+
+## Controls
+
+- **q/w**: Apply force in -X/+X direction to the soft body
+- **e/r**: Apply force in -Y/+Y direction to the soft body
+- **t/y**: Apply force in -Z/+Z direction to the soft body
+- **Space**: Toggle simulation on/off (standard OSG viewer control)
+
+The simulation will start automatically. Use the keyboard controls listed above to interact with the soft body components of the articulated chain.

share/doc/dart/examples/mixed_chain/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/utils/utils.hpp>
+
+#include <dart/dart.hpp>
+
+#include <iostream>
+
+#define FORCE_ON_RIGIDBODY 500.0
+
+class MixedChainEventHandler : public osgGA::GUIEventHandler
+{
+public:
+  MixedChainEventHandler(dart::simulation::WorldPtr world)
+    : mWorld(world), mImpulseDuration(0)
+  {
+    mForceOnRigidBody.setZero();
+  }
+
+  bool handle(
+      const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter&) override
+  {
+    if (ea.getEventType() == osgGA::GUIEventAdapter::KEYDOWN) {
+      switch (ea.getKey()) {
+        case 'q':
+          mForceOnRigidBody[0] = -FORCE_ON_RIGIDBODY;
+          mImpulseDuration = 100;
+          return true;
+        case 'w':
+          mForceOnRigidBody[0] = FORCE_ON_RIGIDBODY;
+          mImpulseDuration = 100;
+          return true;
+        case 'e':
+          mForceOnRigidBody[1] = -FORCE_ON_RIGIDBODY;
+          mImpulseDuration = 100;
+          return true;
+        case 'r':
+          mForceOnRigidBody[1] = FORCE_ON_RIGIDBODY;
+          mImpulseDuration = 100;
+          return true;
+        case 't':
+          mForceOnRigidBody[2] = -FORCE_ON_RIGIDBODY;
+          mImpulseDuration = 100;
+          return true;
+        case 'y':
+          mForceOnRigidBody[2] = FORCE_ON_RIGIDBODY;
+          mImpulseDuration = 100;
+          return true;
+        default:
+          return false;
+      }
+    }
+    return false;
+  }
+
+  void applyForces()
+  {
+    if (mImpulseDuration > 0) {
+      dart::dynamics::SkeletonPtr skeleton = mWorld->getSkeleton(1);
+      if (skeleton && skeleton->getNumSoftBodyNodes() > 3) {
+        dart::dynamics::SoftBodyNode* softBodyNode
+            = skeleton->getSoftBodyNode(3);
+        if (softBodyNode) {
+          softBodyNode->addExtForce(mForceOnRigidBody);
+        }
+      }
+      mImpulseDuration--;
+      if (mImpulseDuration <= 0) {
+        mImpulseDuration = 0;
+        mForceOnRigidBody.setZero();
+      }
+    }
+  }
+
+private:
+  dart::simulation::WorldPtr mWorld;
+  Eigen::Vector3d mForceOnRigidBody;
+  int mImpulseDuration;
+};
+
+class MixedChainWorldNode : public dart::gui::osg::RealTimeWorldNode
+{
+public:
+  MixedChainWorldNode(
+      dart::simulation::WorldPtr world,
+      ::osg::ref_ptr<MixedChainEventHandler> eventHandler)
+    : dart::gui::osg::RealTimeWorldNode(world), mEventHandler(eventHandler)
+  {
+  }
+
+protected:
+  void customPreStep() override
+  {
+    // Apply forces from the event handler
+    mEventHandler->applyForces();
+  }
+
+private:
+  ::osg::ref_ptr<MixedChainEventHandler> mEventHandler;
+};
+
+int main()
+{
+  // Load the skeleton file
+  dart::simulation::WorldPtr myWorld = dart::utils::SkelParser::readWorld(
+      "dart://sample/skel/test/test_articulated_bodies_10bodies.skel");
+  assert(myWorld != nullptr);
+
+  // Set initial pose for the skeleton
+  int dof = myWorld->getSkeleton(1)->getNumDofs();
+  Eigen::VectorXd initPose = Eigen::VectorXd::Zero(dof);
+  for (int i = 0; i < 3; i++)
+    initPose[i] = dart::math::Random::uniform(-0.5, 0.5);
+  myWorld->getSkeleton(1)->setPositions(initPose);
+
+  // Create event handler for keyboard input (using osg::ref_ptr for OSG
+  // compatibility)
+  ::osg::ref_ptr<MixedChainEventHandler> eventHandler
+      = new MixedChainEventHandler(myWorld);
+
+  // Create a WorldNode and wrap it around the world
+  ::osg::ref_ptr<MixedChainWorldNode> node
+      = new MixedChainWorldNode(myWorld, eventHandler);
+
+  // Create a Viewer and set it up with the WorldNode
+  dart::gui::osg::Viewer viewer;
+  viewer.addWorldNode(node);
+
+  // Add the event handler to the viewer
+  viewer.addEventHandler(eventHandler);
+
+  // Set up the window to be 640x480
+  viewer.setUpViewInWindow(0, 0, 640, 480);
+
+  // Adjust the viewpoint of the Viewer
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(2.0f, 1.0f, 2.0f),
+      ::osg::Vec3(0.0f, 0.0f, 0.0f),
+      ::osg::Vec3(0.0f, 0.0f, 1.0f));
+
+  // 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());
+
+  // Print controls
+  std::cout << "Mixed Chain Example Controls:" << std::endl;
+  std::cout << "'q'/'w': Apply force in -X/+X direction" << std::endl;
+  std::cout << "'e'/'r': Apply force in -Y/+Y direction" << std::endl;
+  std::cout << "'t'/'y': Apply force in -Z/+Z direction" << std::endl;
+  std::cout << "Space: Toggle simulation" << std::endl;
+
+  // Begin running the application
+  viewer.run();
+
+  return 0;
+}

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

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+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/operational_space_control/README.md

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+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.
+