dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

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

@@ -0,0 +1,417 @@
+/*
+ * 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/all.hpp>
+
+#include <dart/dart.hpp>
+
+#include <iostream>
+
+using namespace dart;
+
+//==============================================================================
+dynamics::SkeletonPtr createBox(const Eigen::Vector3d& position)
+{
+  dynamics::SkeletonPtr boxSkel = dynamics::Skeleton::create("box");
+
+  // Give the floor a body
+  dynamics::BodyNodePtr boxBody
+      = boxSkel->createJointAndBodyNodePair<dynamics::FreeJoint>(nullptr)
+            .second;
+
+  // Give the body a shape
+  double boxWidth = 1.0;
+  double boxDepth = 1.0;
+  double boxHeight = 0.5;
+  auto boxShape = std::make_shared<dynamics::BoxShape>(
+      Eigen::Vector3d(boxWidth, boxDepth, boxHeight));
+  dynamics::ShapeNode* shapeNode = boxBody->createShapeNodeWith<
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(boxShape);
+  shapeNode->getVisualAspect()->setColor(
+      dart::math::Random::uniform<Eigen::Vector3d>(0.0, 1.0));
+
+  // Put the body into position
+  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+  tf.translation() = position;
+  boxBody->getParentJoint()->setTransformFromParentBodyNode(tf);
+
+  return boxSkel;
+}
+
+//==============================================================================
+std::vector<dynamics::SkeletonPtr> createBoxStack(
+    std::size_t numBoxes, double heightFromGround = 0.5)
+{
+  std::vector<dynamics::SkeletonPtr> boxSkels(numBoxes);
+
+  for (auto i = 0u; i < numBoxes; ++i)
+    boxSkels[i] = createBox(
+        Eigen::Vector3d(0.0, 0.0, heightFromGround + 0.25 + i * 0.5));
+
+  return boxSkels;
+}
+
+//==============================================================================
+dynamics::SkeletonPtr createFloor()
+{
+  dynamics::SkeletonPtr floor = dynamics::Skeleton::create("floor");
+
+  // Give the floor a body
+  dynamics::BodyNodePtr body
+      = floor->createJointAndBodyNodePair<dynamics::WeldJoint>(nullptr).second;
+
+  // Give the body a shape
+  double floorWidth = 10.0;
+  double floorHeight = 0.01;
+  auto box = std::make_shared<dynamics::BoxShape>(
+      Eigen::Vector3d(floorWidth, floorWidth, floorHeight));
+  dynamics::ShapeNode* shapeNode = body->createShapeNodeWith<
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(box);
+  shapeNode->getVisualAspect()->setColor(dart::Color::LightGray());
+
+  // Put the body into position
+  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+  tf.translation() = Eigen::Vector3d(0.0, 0.0, -floorHeight / 2.0);
+  body->getParentJoint()->setTransformFromParentBodyNode(tf);
+
+  return floor;
+}
+
+//==============================================================================
+class CustomWorldNode : public dart::gui::osg::RealTimeWorldNode
+{
+public:
+  explicit 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;
+  }
+};
+
+//==============================================================================
+class TestWidget : public dart::gui::osg::ImGuiWidget
+{
+public:
+  /// Constructor
+  TestWidget(
+      dart::gui::osg::ImGuiViewer* viewer, dart::simulation::WorldPtr world)
+    : mViewer(viewer),
+      mWorld(std::move(world)),
+      mGuiGravity(true),
+      mGravity(true),
+      mGuiHeadlights(true),
+      mSolverType(-1)
+  {
+    // Do nothing
+  }
+
+  // Documentation inherited
+  void render() override
+  {
+    ImGui::SetNextWindowPos(ImVec2(10, 20));
+    ImGui::SetNextWindowSize(ImVec2(240, 320));
+    ImGui::SetNextWindowBgAlpha(0.5f);
+    if (!ImGui::Begin(
+            "Box Stacking",
+            nullptr,
+            ImGuiWindowFlags_NoResize | 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("Box stacking demo");
+    ImGui::Spacing();
+
+    ImGui::Separator();
+    ImGui::Text(
+        "%.3f ms/frame (%.1f FPS)",
+        1000.0f / ImGui::GetIO().Framerate,
+        ImGui::GetIO().Framerate);
+    ImGui::Spacing();
+
+    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::Text("LCP solver:");
+
+      static int solverType = 0;
+      // ImGui::RadioButton("SI", &solverType, 0);
+      ImGui::RadioButton("Dantzig", &solverType, 0);
+      ImGui::SameLine();
+      ImGui::RadioButton("Dantzig", &solverType, 1);
+      ImGui::SameLine();
+      ImGui::RadioButton("PGS", &solverType, 2);
+      setLcpSolver(solverType);
+
+      ImGui::Text("Time: %.3f", mWorld->getTime());
+    }
+
+    if (ImGui::CollapsingHeader(
+            "World Options", ImGuiTreeNodeFlags_DefaultOpen)) {
+      // Gravity
+      ImGui::Checkbox("Gravity On/Off", &mGuiGravity);
+      setGravity(mGuiGravity);
+
+      ImGui::Spacing();
+
+      // Headlights
+      mGuiHeadlights = mViewer->checkHeadlights();
+      ImGui::Checkbox("Headlights On/Off", &mGuiHeadlights);
+      mViewer->switchHeadlights(mGuiHeadlights);
+    }
+
+    if (ImGui::CollapsingHeader("View", ImGuiTreeNodeFlags_DefaultOpen)) {
+      osg::Vec3d eye;
+      osg::Vec3d center;
+      osg::Vec3d up;
+      mViewer->getCamera()->getViewMatrixAsLookAt(eye, center, up);
+
+      ImGui::Text("Eye   : (%.2f, %.2f, %.2f)", eye.x(), eye.y(), eye.z());
+      ImGui::Text(
+          "Center: (%.2f, %.2f, %.2f)", center.x(), center.y(), center.z());
+      ImGui::Text("Up    : (%.2f, %.2f, %.2f)", up.x(), up.y(), up.z());
+    }
+
+    if (ImGui::CollapsingHeader("Help")) {
+      ImGui::PushTextWrapPos(ImGui::GetCursorPos().x + 320);
+      ImGui::Text("User Guide:\n");
+      ImGui::Text("%s", mViewer->getInstructions().c_str());
+      ImGui::PopTextWrapPos();
+    }
+
+    ImGui::End();
+  }
+
+protected:
+  void setLcpSolver(int solverType)
+  {
+    if (solverType == mSolverType)
+      return;
+
+    if (solverType == 0) {
+      // auto solver
+      //     =
+      //     std::make_unique<constraint::SequentialImpulseConstraintSolver>(
+      //         mWorld->getTimeStep());
+      auto lcpSolver = std::make_shared<constraint::DantzigBoxedLcpSolver>();
+      auto solver
+          = std::make_unique<constraint::BoxedLcpConstraintSolver>(lcpSolver);
+      mWorld->setConstraintSolver(std::move(solver));
+    } else if (solverType == 1) {
+      auto lcpSolver = std::make_shared<constraint::DantzigBoxedLcpSolver>();
+      auto solver
+          = std::make_unique<constraint::BoxedLcpConstraintSolver>(lcpSolver);
+      mWorld->setConstraintSolver(std::move(solver));
+    } else if (solverType == 2) {
+      auto lcpSolver = std::make_shared<constraint::PgsBoxedLcpSolver>();
+      auto solver
+          = std::make_unique<constraint::BoxedLcpConstraintSolver>(lcpSolver);
+      mWorld->setConstraintSolver(std::move(solver));
+    } else {
+      dtwarn << "Unsupported boxed-LCP solver selected: " << solverType << "\n";
+    }
+
+    mSolverType = solverType;
+  }
+
+  void setGravity(bool gravity)
+  {
+    if (mGravity == gravity)
+      return;
+
+    mGravity = gravity;
+
+    if (mGravity)
+      mWorld->setGravity(-9.81 * Eigen::Vector3d::UnitZ());
+    else
+      mWorld->setGravity(Eigen::Vector3d::Zero());
+  }
+
+  ::osg::ref_ptr<dart::gui::osg::ImGuiViewer> mViewer;
+  dart::simulation::WorldPtr mWorld;
+  bool mGuiGravity;
+  bool mGravity;
+  bool mGuiHeadlights;
+  int mSolverType;
+};
+
+//==============================================================================
+int main()
+{
+  simulation::WorldPtr world = simulation::World::create();
+  world->addSkeleton(createFloor());
+
+  auto boxSkels = createBoxStack(5);
+  for (const auto& boxSkel : boxSkels)
+    world->addSkeleton(boxSkel);
+
+  // Wrap a WorldNode around it
+  osg::ref_ptr<CustomWorldNode> node = new CustomWorldNode(world);
+
+  // Create a Viewer and set it up with the WorldNode
+  osg::ref_ptr<dart::gui::osg::ImGuiViewer> viewer
+      = new dart::gui::osg::ImGuiViewer();
+  viewer->addWorldNode(node);
+
+  // Add control widget for atlas
+  viewer->getImGuiHandler()->addWidget(
+      std::make_shared<TestWidget>(viewer, world));
+
+  // Pass in the custom event handler
+  viewer->addEventHandler(new CustomEventHandler);
+
+  // Set up the window to be 800x640
+  viewer->setUpViewInWindow(0, 0, 800, 640);
+
+  // Adjust the viewpoint of the Viewer
+  viewer->getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(12.00f, 12.00f, 9.00f),
+      ::osg::Vec3(0.00f, 0.00f, 2.00f),
+      ::osg::Vec3(0.00f, 0.00f, 1.00f));
+
+  // 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/boxes/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 collision-bullet utils-urdf gui-osg)
+set(required_libraries dart dart-collision-bullet 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/boxes/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/boxes/main.cpp

@@ -0,0 +1,157 @@
+/*
+ * 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/collision/bullet/bullet.hpp>
+
+#include <dart/dart.hpp>
+
+#include <osgShadow/ShadowMap>
+
+using namespace dart;
+
+[[nodiscard]] dynamics::SkeletonPtr createBox(
+    const Eigen::Vector3d& position,
+    const Eigen::Vector3d& size = Eigen::Vector3d(1, 1, 1),
+    const Eigen::Vector3d& color
+    = dart::math::Random::uniform<Eigen::Vector3d>(0.0, 1.0))
+{
+  static size_t index = 0;
+  dynamics::SkeletonPtr boxSkel
+      = dynamics::Skeleton::create("box" + std::to_string(index++));
+
+  // Give the floor a body
+  dynamics::BodyNodePtr boxBody
+      = boxSkel->createJointAndBodyNodePair<dynamics::FreeJoint>(nullptr)
+            .second;
+
+  // Give the body a shape
+  auto boxShape = std::make_shared<dynamics::BoxShape>(size);
+  dynamics::ShapeNode* shapeNode = boxBody->createShapeNodeWith<
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(boxShape);
+  shapeNode->getVisualAspect()->setColor(color);
+  shapeNode->getDynamicsAspect()->setRestitutionCoeff(0.9);
+
+  // Put the body into position
+  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+  tf.translation() = position;
+  boxBody->getParentJoint()->setTransformFromParentBodyNode(tf);
+
+  return boxSkel;
+}
+
+int main()
+{
+  // Create an empty world
+  auto world = simulation::World::create();
+
+  // Set collision detector type
+  world->getConstraintSolver()->setCollisionDetector(
+      collision::BulletCollisionDetector::create());
+
+  // Create dim x dim x dim boxes
+  auto dim = 5;
+  for (auto i = 0; i < dim; ++i) {
+    for (auto j = 0; j < dim; ++j) {
+      for (auto k = 0; k < dim; ++k) {
+        auto x = i - dim / 2;
+        auto y = j - dim / 2;
+        auto z = k + 5;
+        auto position = Eigen::Vector3d(x, y, z);
+        auto size = Eigen::Vector3d(0.9, 0.9, 0.9);
+        auto color = Eigen::Vector3d(
+            static_cast<double>(i) / dim,
+            static_cast<double>(j) / dim,
+            static_cast<double>(k) / dim);
+        auto box = createBox(position, size, color);
+        world->addSkeleton(box);
+      }
+    }
+  }
+
+  // Create ground
+  auto ground = dynamics::Skeleton::create("ground");
+  auto groundBody
+      = ground->createJointAndBodyNodePair<dynamics::WeldJoint>().second;
+  auto groundShapeNode = groundBody->createShapeNodeWith<
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(
+      std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(25.0, 25.0, 0.1)));
+  groundShapeNode->getVisualAspect()->setColor(dart::Color::LightGray());
+  groundShapeNode->getDynamicsAspect()->setRestitutionCoeff(0.9);
+  world->addSkeleton(ground);
+
+  // Wrap a WorldNode around it
+  ::osg::ref_ptr<gui::osg::RealTimeWorldNode> node
+      = new gui::osg::RealTimeWorldNode(world);
+
+  // Create a Viewer and set it up with the WorldNode
+  auto viewer = gui::osg::Viewer();
+  viewer.addWorldNode(node);
+
+  // Enable shadow
+  auto shadow
+      = dart::gui::osg::WorldNode::createDefaultShadowTechnique(&viewer);
+  if (auto sm = dynamic_cast<::osgShadow::ShadowMap*>(shadow.get())) {
+    auto mapResolution = static_cast<short>(std::pow(2, 12));
+    sm->setTextureSize(::osg::Vec2s(mapResolution, mapResolution));
+  }
+  node->setShadowTechnique(shadow);
+
+  viewer.addInstructionText(
+      "[Experimental] Please note: This example is in an experimental phase "
+      "and may not be fully functional at this time.\n");
+  viewer.addInstructionText("Press space to start free falling the box.\n");
+  std::cout << viewer.getInstructions() << std::endl;
+
+  // Set up the window to be 1360x768 (HD)
+  viewer.setUpViewInWindow(0, 0, 1360, 768);
+
+  // Adjust the viewpoint of the Viewer
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(20.0f, 20.0f, 15.0f),
+      ::osg::Vec3(0.00f, 0.00f, 3.00f),
+      ::osg::Vec3(0, 0, 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());
+
+  // Begin running the application loop
+  viewer.run();
+
+  return 0;
+}

share/doc/dart/examples/drag_and_drop/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/drag_and_drop/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.
+