dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

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

@@ -0,0 +1,195 @@
+/*
+ * 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>
+
+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::math::suffixes;
+
+class VehicleEventHandler : public ::osgGA::GUIEventHandler
+{
+public:
+  VehicleEventHandler() : mBackWheelVelocity(0.0), mSteeringWheelAngle(0.0) {}
+
+  bool handle(
+      const ::osgGA::GUIEventAdapter& ea, ::osgGA::GUIActionAdapter&) override
+  {
+    if (ea.getEventType() == ::osgGA::GUIEventAdapter::KEYDOWN) {
+      switch (ea.getKey()) {
+        case 'w':
+        case 'W':
+          mBackWheelVelocity = -420.0_deg;
+          std::cout << "Moving forward" << std::endl;
+          return true;
+        case 's':
+        case 'S':
+          mBackWheelVelocity = 0.0_deg;
+          std::cout << "Stop" << std::endl;
+          return true;
+        case 'x':
+        case 'X':
+          mBackWheelVelocity = +420.0_deg;
+          std::cout << "Moving backward" << std::endl;
+          return true;
+        case 'a':
+        case 'A':
+          mSteeringWheelAngle += +10_deg;
+          if (mSteeringWheelAngle > 30.0_deg)
+            mSteeringWheelAngle = 30.0_deg;
+          std::cout << "Steering left, angle: " << mSteeringWheelAngle
+                    << std::endl;
+          return true;
+        case 'd':
+        case 'D':
+          mSteeringWheelAngle += -10_deg;
+          if (mSteeringWheelAngle < -30.0_deg)
+            mSteeringWheelAngle = -30.0_deg;
+          std::cout << "Steering right, angle: " << mSteeringWheelAngle
+                    << std::endl;
+          return true;
+        default:
+          return false;
+      }
+    }
+    return false;
+  }
+
+  double getBackWheelVelocity() const
+  {
+    return mBackWheelVelocity;
+  }
+
+  double getSteeringWheelAngle() const
+  {
+    return mSteeringWheelAngle;
+  }
+
+protected:
+  double mBackWheelVelocity;
+  double mSteeringWheelAngle;
+};
+
+class VehicleWorld : public RealTimeWorldNode
+{
+public:
+  VehicleWorld(const WorldPtr& world, VehicleEventHandler* handler)
+    : RealTimeWorldNode(world), mHandler(handler), mK(0.01), mD(0.005)
+  {
+  }
+
+  void customPreStep() override
+  {
+    SkeletonPtr vehicle = mWorld->getSkeleton("car_skeleton");
+    assert(vehicle != nullptr);
+
+    std::size_t dof = vehicle->getNumDofs();
+
+    Eigen::VectorXd q = vehicle->getPositions();
+    Eigen::VectorXd dq = vehicle->getVelocities();
+    Eigen::VectorXd tau = Eigen::VectorXd::Zero(dof);
+
+    double steeringAngle = mHandler->getSteeringWheelAngle();
+    double wheelVelocity = mHandler->getBackWheelVelocity();
+
+    tau[6] = -mK * (q[6] - steeringAngle) - mD * dq[6];
+    tau[8] = -mK * (q[8] - steeringAngle) - mD * dq[8];
+    tau[7] = -mD * (dq[7] - wheelVelocity);
+    tau[9] = -mD * (dq[9] - wheelVelocity);
+    tau[10] = -mD * (dq[10] - wheelVelocity);
+    tau[11] = -mD * (dq[11] - wheelVelocity);
+
+    vehicle->setForces(tau);
+  }
+
+protected:
+  VehicleEventHandler* mHandler;
+  double mK;
+  double mD;
+};
+
+int main(int /*argc*/, char* /*argv*/[])
+{
+  // Create and initialize the world
+  WorldPtr myWorld = SkelParser::readWorld("dart://sample/skel/vehicle.skel");
+  assert(myWorld != nullptr);
+  Eigen::Vector3d gravity(0.0, -9.81, 0.0);
+  myWorld->setGravity(gravity);
+
+  // Create event handler
+  auto handler = new VehicleEventHandler();
+
+  // Create a custom WorldNode with vehicle behavior
+  ::osg::ref_ptr<VehicleWorld> node = new VehicleWorld(myWorld, handler);
+
+  // Create a Viewer and set it up with the WorldNode
+  auto viewer = Viewer();
+  viewer.addWorldNode(node);
+  viewer.addEventHandler(handler);
+
+  // Print instructions
+  viewer.addInstructionText("'w': move forward\n");
+  viewer.addInstructionText("'s': stop\n");
+  viewer.addInstructionText("'x': move backward\n");
+  viewer.addInstructionText("'a': rotate steering wheels to left\n");
+  viewer.addInstructionText("'d': rotate steering wheels to right\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();
+
+  return 0;
+}

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

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.22.1)
+
+get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+
+project(${example_name})
+
+add_subdirectory(ikfast)
+
+set(required_components utils-urdf gui-osg)
+set(required_libraries dart dart-utils-urdf dart-gui-osg wamIk)
+
+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 ${required_libraries})
+target_link_libraries(${PROJECT_NAME} PUBLIC wamIk)

share/doc/dart/examples/wam_ikfast/Helpers.cpp

@@ -0,0 +1,148 @@
+/*
+ * 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 "Helpers.hpp"
+
+#include <dart/utils/urdf/urdf.hpp>
+
+#include <sstream>
+
+//==============================================================================
+dart::dynamics::SkeletonPtr createGround()
+{
+  // Create a Skeleton to represent the ground
+  dart::dynamics::SkeletonPtr ground
+      = dart::dynamics::Skeleton::create("ground");
+  Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
+  double thickness = 0.01;
+  tf.translation() = Eigen::Vector3d(0, 0, -thickness / 2.0);
+  dart::dynamics::WeldJoint::Properties joint;
+  joint.mT_ParentBodyToJoint = tf;
+  ground->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr, joint);
+  dart::dynamics::ShapePtr groundShape
+      = std::make_shared<dart::dynamics::BoxShape>(
+          Eigen::Vector3d(10, 10, thickness));
+
+  auto shapeNode = ground->getBodyNode(0)
+                       ->createShapeNodeWith<
+                           dart::dynamics::VisualAspect,
+                           dart::dynamics::CollisionAspect,
+                           dart::dynamics::DynamicsAspect>(groundShape);
+  shapeNode->getVisualAspect()->setColor(dart::Color::Blue(0.2));
+
+  return ground;
+}
+
+//==============================================================================
+dart::dynamics::SkeletonPtr createWam()
+{
+  dart::utils::DartLoader urdfParser;
+  urdfParser.addPackageDirectory(
+      "herb_description", DART_DATA_PATH "/urdf/wam");
+  dart::dynamics::SkeletonPtr wam
+      = urdfParser.parseSkeleton(DART_DATA_PATH "/urdf/wam/wam.urdf");
+
+  return wam;
+}
+
+//==============================================================================
+void setStartupConfiguration(const dart::dynamics::SkeletonPtr& wam)
+{
+  wam->getDof("/j1")->setPosition(0.0);
+  wam->getDof("/j2")->setPosition(0.0);
+  wam->getDof("/j3")->setPosition(0.0);
+  wam->getDof("/j4")->setPosition(0.0);
+  wam->getDof("/j5")->setPosition(0.0);
+  wam->getDof("/j6")->setPosition(0.0);
+  wam->getDof("/j7")->setPosition(0.0);
+}
+
+//==============================================================================
+void setupEndEffectors(const dart::dynamics::SkeletonPtr& wam)
+{
+  Eigen::Vector3d linearBounds
+      = Eigen::Vector3d::Constant(std::numeric_limits<double>::infinity());
+
+  Eigen::Vector3d angularBounds
+      = Eigen::Vector3d::Constant(std::numeric_limits<double>::infinity());
+
+  Eigen::Isometry3d tf_hand(Eigen::Isometry3d::Identity());
+  tf_hand.translate(Eigen::Vector3d(0.0, 0.0, -0.09));
+
+  dart::dynamics::EndEffector* ee
+      = wam->getBodyNode("/wam7")->createEndEffector("ee");
+  ee->setDefaultRelativeTransform(tf_hand, true);
+
+  auto wam7_target = std::make_shared<dart::gui::osg::InteractiveFrame>(
+      dart::dynamics::Frame::World(), "lh_target");
+
+  ee->getIK(true)->setTarget(wam7_target);
+
+  std::stringstream ss;
+  ss << DART_SHARED_LIB_PREFIX << "wamIk";
+#if (DART_OS_LINUX || DART_OS_MACOS) && DART_BUILD_MODE_DEBUG
+  ss << "d";
+#endif
+  ss << "." << DART_SHARED_LIB_EXTENSION;
+  std::string libName = ss.str();
+
+  std::vector<std::size_t> ikFastDofs{0, 1, 3, 4, 5, 6};
+  std::vector<std::size_t> ikFastFreeDofs{2};
+  ee->getIK()->setGradientMethod<dart::dynamics::SharedLibraryIkFast>(
+      libName, ikFastDofs, ikFastFreeDofs);
+
+  ee->getIK()->getErrorMethod().setLinearBounds(-linearBounds, linearBounds);
+  ee->getIK()->getErrorMethod().setAngularBounds(-angularBounds, angularBounds);
+}
+
+//==============================================================================
+void enableDragAndDrops(
+    dart::gui::osg::Viewer& viewer, const dart::dynamics::SkeletonPtr& wam)
+{
+  // Turn on drag-and-drop for the whole Skeleton
+  for (std::size_t i = 0; i < wam->getNumBodyNodes(); ++i)
+    viewer.enableDragAndDrop(wam->getBodyNode(i), false, false);
+
+  for (std::size_t i = 0; i < wam->getNumEndEffectors(); ++i) {
+    dart::dynamics::EndEffector* ee = wam->getEndEffector(i);
+    if (!ee->getIK())
+      continue;
+
+    // Check whether the target is an interactive frame, and add it if it is
+    const auto& frame
+        = std::dynamic_pointer_cast<dart::gui::osg::InteractiveFrame>(
+            ee->getIK()->getTarget());
+
+    if (frame)
+      viewer.enableDragAndDrop(frame.get());
+  }
+}

share/doc/dart/examples/wam_ikfast/Helpers.hpp

@@ -0,0 +1,46 @@
+/*
+ * 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>
+
+dart::dynamics::SkeletonPtr createGround();
+
+dart::dynamics::SkeletonPtr createWam();
+
+void setStartupConfiguration(const dart::dynamics::SkeletonPtr& wam);
+
+void setupEndEffectors(const dart::dynamics::SkeletonPtr& wam);
+
+void enableDragAndDrops(
+    dart::gui::osg::Viewer& viewer, const dart::dynamics::SkeletonPtr& wam);

share/doc/dart/examples/wam_ikfast/InputHandler.cpp

@@ -0,0 +1,110 @@
+/*
+ * 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 "InputHandler.hpp"
+
+#include "WamWorld.hpp"
+
+//==============================================================================
+InputHandler::InputHandler(
+    dart::gui::osg::Viewer* viewer,
+    WamWorld* teleop,
+    const SkeletonPtr& wam,
+    const WorldPtr& world)
+  : mViewer(viewer), mWamWorld(teleop), mWam(wam), mWorld(world)
+{
+  initialize();
+}
+
+//==============================================================================
+void InputHandler::initialize()
+{
+  mRestConfig = mWam->getPositions();
+
+  for (std::size_t i = 0; i < mWam->getNumEndEffectors(); ++i) {
+    const InverseKinematicsPtr ik = mWam->getEndEffector(i)->getIK();
+    if (ik) {
+      mDefaultBounds.push_back(ik->getErrorMethod().getBounds());
+      mDefaultTargetTf.push_back(ik->getTarget()->getRelativeTransform());
+      mConstraintActive.push_back(false);
+      mEndEffectorIndex.push_back(i);
+    }
+  }
+}
+
+//==============================================================================
+bool InputHandler::handle(
+    const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter&)
+{
+  if (!mWam)
+    return false;
+
+  if (::osgGA::GUIEventAdapter::KEYDOWN == ea.getEventType()) {
+    if (ea.getKey() == 'p' || ea.getKey() == 'P') {
+      for (std::size_t i = 0; i < mWam->getNumDofs(); ++i)
+        std::cout << mWam->getDof(i)->getName() << ": "
+                  << mWam->getDof(i)->getPosition() << std::endl;
+      return true;
+    }
+
+    if (ea.getKey() == 't' || ea.getKey() == 'T') {
+      mWam->setPositions(mRestConfig);
+      return true;
+    }
+
+    if ('1' <= ea.getKey() && ea.getKey() <= '9') {
+      std::size_t index = ea.getKey() - '1';
+      if (index < mConstraintActive.size()) {
+        EndEffector* ee = mWam->getEndEffector(mEndEffectorIndex[index]);
+        const InverseKinematicsPtr& ik = ee->getIK();
+        if (ik && mConstraintActive[index]) {
+          mConstraintActive[index] = false;
+
+          ik->getErrorMethod().setBounds(mDefaultBounds[index]);
+          ik->getTarget()->setRelativeTransform(mDefaultTargetTf[index]);
+          mWorld->removeSimpleFrame(ik->getTarget());
+        } else if (ik) {
+          mConstraintActive[index] = true;
+
+          // Use the standard default bounds instead of our custom default
+          // bounds
+          ik->getErrorMethod().setBounds();
+          ik->getTarget()->setTransform(ee->getTransform());
+          mWorld->addSimpleFrame(ik->getTarget());
+        }
+      }
+      return true;
+    }
+  }
+
+  return false;
+}

share/doc/dart/examples/wam_ikfast/InputHandler.hpp

@@ -0,0 +1,73 @@
+/*
+ * 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 WamWorld;
+
+class InputHandler : public ::osgGA::GUIEventHandler
+{
+public:
+  InputHandler(
+      dart::gui::osg::Viewer* viewer,
+      WamWorld* teleop,
+      const dart::dynamics::SkeletonPtr& wam,
+      const dart::simulation::WorldPtr& world);
+
+  // Documentation inherited
+  bool handle(
+      const ::osgGA::GUIEventAdapter& ea, ::osgGA::GUIActionAdapter&) override;
+
+protected:
+  void initialize();
+
+protected:
+  dart::gui::osg::Viewer* mViewer;
+
+  WamWorld* mWamWorld;
+
+  dart::dynamics::SkeletonPtr mWam;
+
+  dart::simulation::WorldPtr mWorld;
+
+  Eigen::VectorXd mRestConfig;
+
+  std::vector<bool> mConstraintActive;
+
+  std::vector<std::size_t> mEndEffectorIndex;
+
+  std::vector<std::pair<Eigen::Vector6d, Eigen::Vector6d>> mDefaultBounds;
+
+  dart::common::aligned_vector<Eigen::Isometry3d> mDefaultTargetTf;
+};

share/doc/dart/examples/wam_ikfast/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/wam_ikfast/WamWorld.cpp

@@ -0,0 +1,46 @@
+/*
+ * 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 "WamWorld.hpp"
+
+//==============================================================================
+WamWorld::WamWorld(WorldPtr world, SkeletonPtr robot)
+  : dart::gui::osg::WorldNode(world), mWam(robot)
+{
+  // Do nothing
+}
+
+//==============================================================================
+void WamWorld::customPreRefresh()
+{
+  mWam->getIK(true)->solveAndApply(true);
+}