dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/dynamics/detail/RevoluteJointAspect.hpp

@@ -0,0 +1,86 @@
+/*
+ * 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_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_
+
+#include <dart/dynamics/GenericJoint.hpp>
+
+#include <Eigen/Dense>
+
+#include <string>
+
+namespace dart {
+namespace dynamics {
+
+class RevoluteJoint;
+
+namespace detail {
+
+//==============================================================================
+struct RevoluteJointUniqueProperties
+{
+  Eigen::Vector3d mAxis;
+
+  RevoluteJointUniqueProperties(
+      const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ());
+
+  virtual ~RevoluteJointUniqueProperties() = default;
+};
+
+//==============================================================================
+struct RevoluteJointProperties : GenericJoint<math::R1Space>::Properties,
+                                 RevoluteJointUniqueProperties
+{
+  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(RevoluteJointProperties)
+
+  RevoluteJointProperties(
+      const GenericJoint<math::R1Space>::Properties& genericJointProperties
+      = GenericJoint<math::R1Space>::Properties(),
+      const RevoluteJointUniqueProperties& revoluteProperties
+      = RevoluteJointUniqueProperties());
+
+  virtual ~RevoluteJointProperties() = default;
+};
+
+//==============================================================================
+using RevoluteJointBase = common::EmbedPropertiesOnTopOf<
+    RevoluteJoint,
+    RevoluteJointUniqueProperties,
+    GenericJoint<math::R1Space>>;
+
+} // namespace detail
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_

include/dart/dynamics/detail/ScrewJointAspect.hpp

@@ -0,0 +1,90 @@
+/*
+ * 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_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
+
+#include <dart/dynamics/GenericJoint.hpp>
+
+#include <Eigen/Dense>
+
+#include <string>
+
+namespace dart {
+namespace dynamics {
+
+class ScrewJoint;
+
+namespace detail {
+
+//==============================================================================
+struct ScrewJointUniqueProperties
+{
+  /// Rotational axis
+  Eigen::Vector3d mAxis;
+
+  /// Translational pitch
+  double mPitch;
+
+  ScrewJointUniqueProperties(
+      const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ(),
+      double _pitch = 0.1);
+
+  virtual ~ScrewJointUniqueProperties() = default;
+};
+
+//==============================================================================
+struct ScrewJointProperties : GenericJoint<math::R1Space>::Properties,
+                              ScrewJointUniqueProperties
+{
+  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(ScrewJointProperties)
+
+  ScrewJointProperties(
+      const GenericJoint<math::R1Space>::Properties& genericJointProperties
+      = GenericJoint<math::R1Space>::Properties(),
+      const ScrewJointUniqueProperties& screwProperties
+      = ScrewJointUniqueProperties());
+
+  virtual ~ScrewJointProperties() = default;
+};
+
+//==============================================================================
+using ScrewJointBase = common::EmbedPropertiesOnTopOf<
+    ScrewJoint,
+    ScrewJointUniqueProperties,
+    GenericJoint<math::R1Space>>;
+
+} // namespace detail
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_

include/dart/dynamics/detail/ShapeFrameAspect.hpp

@@ -0,0 +1,169 @@
+/*
+ * 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_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
+
+#include <dart/dynamics/SmartPointer.hpp>
+
+#include <dart/common/EmbeddedAspect.hpp>
+
+#include <Eigen/Core>
+
+namespace dart {
+namespace dynamics {
+
+class VisualAspect;
+class CollisionAspect;
+class DynamicsAspect;
+class ShapeFrame;
+
+namespace detail {
+
+struct VisualAspectProperties
+{
+  /// Color for the primitive shape
+  Eigen::Vector4d mRGBA;
+
+  bool mUseDefaultColor;
+
+  /// True if this shape node should be kept from rendering
+  bool mHidden;
+
+  /// True if this shape node should be shadowed
+  bool mShadowed;
+
+  /// Constructor
+  VisualAspectProperties(
+      const Eigen::Vector4d& color = Eigen::Vector4d(0.5, 0.5, 1.0, 1.0),
+      const bool hidden = false,
+      const bool shadowed = true);
+
+  /// Destructor
+  virtual ~VisualAspectProperties() = default;
+
+  // To get byte-aligned Eigen vectors
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct CollisionAspectProperties
+{
+  /// This object is collidable if true
+  bool mCollidable;
+
+  /// Constructor
+  CollisionAspectProperties(const bool collidable = true);
+
+  /// Destructor
+  virtual ~CollisionAspectProperties() = default;
+};
+
+struct DynamicsAspectProperties
+{
+  /// Primary coefficient of friction
+  double mFrictionCoeff;
+
+  /// Coefficient of restitution
+  double mRestitutionCoeff;
+
+  /// Secondary coefficient of friction
+  double mSecondaryFrictionCoeff;
+
+  /// Primary slip compliance coefficient
+  double mPrimarySlipCompliance;
+
+  /// Secondary slip compliance coefficient
+  double mSecondarySlipCompliance;
+
+  /// First friction direction unit vector
+  Eigen::Vector3d mFirstFrictionDirection;
+
+  /// First friction direction frame
+  /// The first friction direction unit vector is expressed in this frame
+  const Frame* mFirstFrictionDirectionFrame;
+
+  /// Constructors
+  /// The frictionCoeff argument will be used for both primary and secondary
+  /// friction
+  DynamicsAspectProperties(
+      const double frictionCoeff = 1.0, const double restitutionCoeff = 0.0);
+
+  /// Set primary and secondary friction and restitution coefficients.
+  /// The first friction direction vector and frame may optionally be set.
+  /// The vector defaults to a zero-vector, which will cause it to be ignored
+  /// and the global friction directions used instead.
+  /// If the vector is set to a non-zero vector, the first friction direction
+  /// for this shape is computed from this vector expressed in the frame
+  /// given by the Frame pointer. THe Frame pointer defaults to nullptr,
+  /// which is interpreted as the body-fixed frame of this Shape.
+  /// Note that if two objects with custom friction directions come into
+  /// contact, only one of the directions can be chosen.
+  /// One approach is to use the first friction direction for the ShapeNode
+  /// with the smaller primary friction coefficient, since that has the
+  /// dominant effect. See the ContactConstraint implementation for
+  /// further details.
+  DynamicsAspectProperties(
+      const double primaryFrictionCoeff,
+      const double secondaryFrictionCoeff,
+      const double restitutionCoeff,
+      const double primarySlipCompliance = -1.0,
+      const double secondarySlipCompliance = -1.0,
+      const Eigen::Vector3d& firstFrictionDirection = Eigen::Vector3d::Zero(),
+      const Frame* firstFrictionDirectionFrame = nullptr);
+
+  /// Destructor
+  virtual ~DynamicsAspectProperties() = default;
+};
+
+struct ShapeFrameProperties
+{
+  /// Pointer to a shape
+  ShapePtr mShape;
+
+  /// Constructor
+  ShapeFrameProperties(const ShapePtr& shape = nullptr);
+
+  /// Virtual destructor
+  virtual ~ShapeFrameProperties() = default;
+};
+
+using ShapeFrameCompositeBase = common::EmbedPropertiesOnTopOf<
+    ShapeFrame,
+    ShapeFrameProperties,
+    common::
+        SpecializedForAspect<VisualAspect, CollisionAspect, DynamicsAspect>>;
+
+} // namespace detail
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_

include/dart/dynamics/detail/ShapeNode.hpp

@@ -0,0 +1,51 @@
+/*
+ * 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_DYNAMICS_DETAIL_SHAPENODE_HPP_
+#define DART_DYNAMICS_DETAIL_SHAPENODE_HPP_
+
+#include <dart/dynamics/CompositeNode.hpp>
+#include <dart/dynamics/FixedJacobianNode.hpp>
+#include <dart/dynamics/ShapeFrame.hpp>
+
+namespace dart {
+namespace dynamics {
+namespace detail {
+
+using ShapeNodeCompositeBase
+    = CompositeNode<common::CompositeJoiner<FixedJacobianNode, ShapeFrame>>;
+
+} // namespace detail
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_SHAPENODE_HPP_

include/dart/dynamics/detail/Skeleton.hpp

@@ -0,0 +1,92 @@
+/*
+ * 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_DYNAMICS_DETAIL_SKELETON_HPP_
+#define DART_DYNAMICS_DETAIL_SKELETON_HPP_
+
+#include <dart/dynamics/Skeleton.hpp>
+
+namespace dart {
+namespace dynamics {
+
+//==============================================================================
+template <class JointType>
+JointType* Skeleton::moveBodyNodeTree(
+    BodyNode* _bodyNode,
+    const SkeletonPtr& _newSkeleton,
+    BodyNode* _parentNode,
+    const typename JointType::Properties& _joint)
+{
+  JointType* parentJoint = new JointType(_joint);
+
+  if (moveBodyNodeTree(parentJoint, _bodyNode, _newSkeleton, _parentNode))
+    return parentJoint;
+
+  // If the move failed, we should delete the Joint that we created and return
+  // a nullptr.
+  delete parentJoint;
+  return nullptr;
+}
+
+//==============================================================================
+template <class JointType>
+std::pair<JointType*, BodyNode*> Skeleton::cloneBodyNodeTree(
+    const BodyNode* _bodyNode,
+    const SkeletonPtr& _newSkeleton,
+    BodyNode* _parentNode,
+    const typename JointType::Properties& _joint,
+    bool _recursive) const
+{
+  JointType* parentJoint = new JointType(_joint);
+  std::pair<Joint*, BodyNode*> root = cloneBodyNodeTree(
+      parentJoint, _bodyNode, _newSkeleton, _parentNode, _recursive);
+  return std::pair<JointType*, BodyNode*>(parentJoint, root.second);
+}
+
+//==============================================================================
+template <class JointType, class NodeType>
+std::pair<JointType*, NodeType*> Skeleton::createJointAndBodyNodePair(
+    BodyNode* _parent,
+    const typename JointType::Properties& _jointProperties,
+    const typename NodeType::Properties& _bodyProperties)
+{
+  JointType* joint = new JointType(_jointProperties);
+  NodeType* node = new NodeType(_parent, joint, _bodyProperties);
+  registerBodyNode(node);
+
+  return std::pair<JointType*, NodeType*>(joint, node);
+}
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_SKELETON_HPP_

include/dart/dynamics/detail/SkeletonAspect.hpp

@@ -0,0 +1,181 @@
+/*
+ * 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_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
+
+#include <dart/common/Composite.hpp>
+#include <dart/common/EmbeddedAspect.hpp>
+#include <dart/common/ProxyAspect.hpp>
+#include <dart/common/RequiresAspect.hpp>
+
+#include <Eigen/Core>
+
+namespace dart {
+namespace dynamics {
+
+class Skeleton;
+
+namespace detail {
+
+//==============================================================================
+/// The Properties of this Skeleton which are independent of the components
+/// within the Skeleton, such as its BodyNodes and Joints. This does not
+/// include any Properties of the Skeleton's Aspects.
+struct SkeletonAspectProperties
+{
+  /// Name of the Skeleton
+  std::string mName;
+
+  /// If the skeleton is not mobile, its dynamic effect is equivalent
+  /// to having infinite mass. If the configuration of an immobile skeleton is
+  /// manually changed, the collision results might not be correct.
+  bool mIsMobile;
+
+  /// Gravity vector.
+  Eigen::Vector3d mGravity;
+
+  /// Time step for implicit joint damping force.
+  double mTimeStep;
+
+  /// True if self collision check is enabled. Use mEnabledAdjacentBodyCheck
+  /// to disable collision checks between adjacent bodies.
+  bool mEnabledSelfCollisionCheck;
+
+  /// True if self collision check is enabled, including adjacent bodies.
+  /// Note: If mEnabledSelfCollisionCheck is false, then this value will be
+  /// ignored.
+  bool mEnabledAdjacentBodyCheck;
+
+  /// Default constructor
+  SkeletonAspectProperties(
+      const std::string& _name = "Skeleton",
+      bool _isMobile = true,
+      const Eigen::Vector3d& _gravity = Eigen::Vector3d(0.0, 0.0, -9.81),
+      double _timeStep = 0.001,
+      bool _enabledSelfCollisionCheck = false,
+      bool _enableAdjacentBodyCheck = false);
+
+  virtual ~SkeletonAspectProperties() = default;
+};
+
+//==============================================================================
+using BodyNodeStateVector = std::vector<common::Composite::State>;
+using BodyNodePropertiesVector = std::vector<common::Composite::Properties>;
+using JointStateVector = std::vector<common::Composite::State>;
+using JointPropertiesVector = std::vector<common::Composite::Properties>;
+
+//==============================================================================
+void setAllBodyNodeStates(Skeleton* skel, const BodyNodeStateVector& states);
+
+//==============================================================================
+BodyNodeStateVector getAllBodyNodeStates(const Skeleton* skel);
+
+//==============================================================================
+void setAllBodyNodeProperties(
+    Skeleton* skel, const BodyNodePropertiesVector& properties);
+
+//==============================================================================
+BodyNodePropertiesVector getAllBodyNodeProperties(const Skeleton* skel);
+
+//==============================================================================
+using BodyNodeVectorProxyAspectState = common::ProxyCloneable<
+    common::Aspect::State,
+    Skeleton,
+    BodyNodeStateVector,
+    &setAllBodyNodeStates,
+    &getAllBodyNodeStates>;
+
+//==============================================================================
+using BodyNodeVectorProxyAspectProperties = common::ProxyCloneable<
+    common::Aspect::Properties,
+    Skeleton,
+    BodyNodePropertiesVector,
+    &setAllBodyNodeProperties,
+    &getAllBodyNodeProperties>;
+
+//==============================================================================
+using BodyNodeVectorProxyAspect = common::ProxyStateAndPropertiesAspect<
+    Skeleton,
+    BodyNodeVectorProxyAspectState,
+    BodyNodeVectorProxyAspectProperties>;
+
+//==============================================================================
+void setAllJointStates(Skeleton* skel, const JointStateVector& states);
+
+//==============================================================================
+JointStateVector getAllJointStates(const Skeleton* skel);
+
+//==============================================================================
+void setAllJointProperties(
+    Skeleton* skel, const JointPropertiesVector& properties);
+
+//==============================================================================
+JointPropertiesVector getAllJointProperties(const Skeleton* skel);
+
+//==============================================================================
+using JointVectorProxyAspectState = common::ProxyCloneable<
+    common::Aspect::State,
+    Skeleton,
+    JointStateVector,
+    &setAllJointStates,
+    &getAllJointStates>;
+
+//==============================================================================
+using JointVectorProxyAspectProperties = common::ProxyCloneable<
+    common::Aspect::Properties,
+    Skeleton,
+    JointPropertiesVector,
+    &setAllJointProperties,
+    &getAllJointProperties>;
+
+//==============================================================================
+using JointVectorProxyAspect = common::ProxyStateAndPropertiesAspect<
+    Skeleton,
+    JointVectorProxyAspectState,
+    JointVectorProxyAspectProperties>;
+
+//==============================================================================
+using SkeletonProxyAspects
+    = common::RequiresAspect<BodyNodeVectorProxyAspect, JointVectorProxyAspect>;
+
+//==============================================================================
+using SkeletonAspectBase = common::EmbedPropertiesOnTopOf<
+    Skeleton,
+    SkeletonAspectProperties,
+    SkeletonProxyAspects>;
+
+} // namespace detail
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_