dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

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

@@ -0,0 +1,460 @@
+/*
+ * 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/urdf/urdf.hpp>
+#include <dart/utils/utils.hpp>
+
+#include <dart/dart.hpp>
+
+#include <cmath>
+
+using namespace dart;
+using namespace dart::common;
+using namespace dart::dynamics;
+using namespace dart::math;
+
+template <typename S>
+dynamics::ShapePtr createHeightmapShape(
+    std::size_t xResolution = 20u,
+    std::size_t yResolution = 20u,
+    S xSize = S(2),
+    S ySize = S(2),
+    S zMin = S(0.0),
+    S zMax = S(0.1))
+{
+  using Vector3 = Eigen::Matrix<S, 3, 1>;
+
+  typename HeightmapShape<S>::HeightField data(yResolution, xResolution);
+  for (auto i = 0u; i < yResolution; ++i) {
+    for (auto j = 0u; j < xResolution; ++j) {
+      data(i, j) = math::Random::uniform(zMin, zMax);
+    }
+  }
+  auto scale = Vector3(xSize / xResolution, ySize / yResolution, 1);
+
+  auto terrainShape = std::make_shared<HeightmapShape<S>>();
+  terrainShape->setScale(scale);
+  terrainShape->setHeightField(data);
+
+  return terrainShape;
+}
+
+template <typename S>
+dynamics::SimpleFramePtr createHeightmapFrame(
+    std::size_t xResolution = 20u,
+    std::size_t yResolution = 20u,
+    S xSize = S(2),
+    S ySize = S(2),
+    S zMin = S(0.0),
+    S zMax = S(0.1))
+{
+  auto terrainFrame = SimpleFrame::createShared(Frame::World());
+  auto tf = terrainFrame->getRelativeTransform();
+  tf.translation()[0] = -static_cast<double>(xSize) / 2.0;
+  tf.translation()[1] = +static_cast<double>(ySize) / 2.0;
+  terrainFrame->setRelativeTransform(tf);
+
+  terrainFrame->createVisualAspect();
+
+  // TODO(JS): Remove?
+  auto terrainShape = createHeightmapShape(
+      xResolution, yResolution, xSize, ySize, zMin, zMax);
+  terrainFrame->setShape(terrainShape);
+
+  return terrainFrame;
+}
+
+class HeightmapWorld : public gui::osg::WorldNode
+{
+public:
+  explicit HeightmapWorld(simulation::WorldPtr world)
+    : gui::osg::WorldNode(std::move(world))
+  {
+    // Do nothing
+  }
+
+  // Triggered at the beginning of each simulation step
+  void customPreStep() override
+  {
+    // Do nothing
+  }
+
+protected:
+};
+
+template <typename S>
+class HeightmapWidget : public dart::gui::osg::ImGuiWidget
+{
+public:
+  HeightmapWidget(
+      dart::gui::osg::ImGuiViewer* viewer,
+      HeightmapWorld* node,
+      dynamics::SimpleFramePtr terrain,
+      gui::osg::GridVisual* grid,
+      std::size_t xResolution = 20u,
+      std::size_t yResolution = 20u,
+      S xSize = S(2),
+      S ySize = S(2),
+      S zMin = S(0.0),
+      S zMax = S(0.1))
+    : mViewer(viewer), mNode(node), mTerrain(std::move(terrain)), mGrid(grid)
+  {
+    mXResolution = xResolution;
+    mYResolution = yResolution;
+    mXSize = xSize;
+    mYSize = ySize;
+    mZMin = zMin;
+    mZMax = zMax;
+
+    updateHeightmapShape();
+  }
+
+  void updateHeightmapShape()
+  {
+    mTerrain->setShape(createHeightmapShape(
+        mXResolution, mYResolution, mXSize, mYSize, mZMin, mZMax));
+
+    auto tf = mTerrain->getRelativeTransform();
+    tf.translation()[0] = -static_cast<double>(mXSize) / 2.0;
+    tf.translation()[1] = +static_cast<double>(mYSize) / 2.0;
+    mTerrain->setRelativeTransform(tf);
+  }
+
+  void render() override
+  {
+    ImGui::SetNextWindowPos(ImVec2(10, 20));
+    ImGui::SetNextWindowSize(ImVec2(360, 600));
+    ImGui::SetNextWindowBgAlpha(0.5f);
+    if (!ImGui::Begin(
+            "Point Cloud & Voxel Grid Demo",
+            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("Heightmap rendering example");
+    ImGui::Spacing();
+    ImGui::TextWrapped("TODO.");
+
+    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);
+      }
+    }
+
+    if (mTerrain) {
+      if (ImGui::CollapsingHeader(
+              "Heightmap", ImGuiTreeNodeFlags_DefaultOpen)) {
+        ImGui::Text("Terrain");
+
+        auto aspect = mTerrain->getVisualAspect();
+        bool display = !aspect->isHidden();
+        if (ImGui::Checkbox("Show##Terrain", &display)) {
+          if (display)
+            aspect->show();
+          else
+            aspect->hide();
+        }
+
+        auto shape = std::dynamic_pointer_cast<dynamics::HeightmapShapef>(
+            mTerrain->getShape());
+        assert(shape);
+
+        int xResolution = static_cast<int>(mXResolution);
+        if (ImGui::InputInt("X Resolution", &xResolution, 5, 10)) {
+          if (xResolution < 5)
+            xResolution = 5;
+
+          if (static_cast<int>(mXResolution) != xResolution) {
+            mXResolution = xResolution;
+            updateHeightmapShape();
+          }
+        }
+
+        int yResolution = static_cast<int>(mYResolution);
+        if (ImGui::InputInt("Y Resolution", &yResolution, 5, 10)) {
+          if (yResolution < 5)
+            yResolution = 5;
+
+          if (static_cast<int>(mYResolution) != yResolution) {
+            mYResolution = yResolution;
+            updateHeightmapShape();
+          }
+        }
+
+        ImGui::Separator();
+
+        if (ImGui::InputFloat("X Size", &mXSize, 0.1, 0.2)) {
+          if (mXSize < 0.1)
+            mXSize = 0.1;
+
+          updateHeightmapShape();
+        }
+
+        if (ImGui::InputFloat("Y Size", &mYSize, 0.1, 0.2)) {
+          if (mYSize < 0.1)
+            mYSize = 0.1;
+
+          updateHeightmapShape();
+        }
+
+        ImGui::Separator();
+
+        if (ImGui::InputFloat("Z Min", &mZMin, 0.05, 0.1))
+          updateHeightmapShape();
+
+        if (ImGui::InputFloat("Z Max", &mZMax, 0.05, 0.1))
+          updateHeightmapShape();
+
+        ImGui::Separator();
+
+        auto visualAspect = mTerrain->getVisualAspect();
+
+        float color[4];
+        auto visualColor = visualAspect->getRGBA();
+        color[0] = static_cast<float>(visualColor[0]);
+        color[1] = static_cast<float>(visualColor[1]);
+        color[2] = static_cast<float>(visualColor[2]);
+        color[3] = static_cast<float>(visualColor[3]);
+        if (ImGui::ColorEdit4("Color##Heightmap", color)) {
+          visualColor[0] = static_cast<double>(color[0]);
+          visualColor[1] = static_cast<double>(color[1]);
+          visualColor[2] = static_cast<double>(color[2]);
+          visualColor[3] = static_cast<double>(color[3]);
+          visualAspect->setColor(visualColor);
+        }
+      }
+    }
+
+    if (mGrid) {
+      if (ImGui::CollapsingHeader("Grid", ImGuiTreeNodeFlags_None)) {
+        ImGui::Text("Grid");
+
+        bool display = mGrid->isDisplayed();
+        if (ImGui::Checkbox("Show##Grid", &display))
+          mGrid->display(display);
+
+        if (display) {
+          int e = static_cast<int>(mGrid->getPlaneType());
+          if (mViewer->isAllowingSimulation()) {
+            if (ImGui::RadioButton("XY-Plane", &e, 0))
+              mGrid->setPlaneType(gui::osg::GridVisual::PlaneType::XY);
+            ImGui::SameLine();
+            if (ImGui::RadioButton("YZ-Plane", &e, 1))
+              mGrid->setPlaneType(gui::osg::GridVisual::PlaneType::YZ);
+            ImGui::SameLine();
+            if (ImGui::RadioButton("ZX-Plane", &e, 2))
+              mGrid->setPlaneType(gui::osg::GridVisual::PlaneType::ZX);
+          }
+
+          static Eigen::Vector3f offset;
+          ImGui::Columns(3);
+          offset = mGrid->getOffset().cast<float>();
+          if (ImGui::InputFloat("X", &offset[0], 0.1f, 0.5f, "%.1f"))
+            mGrid->setOffset(offset.cast<double>());
+          ImGui::NextColumn();
+          if (ImGui::InputFloat("Y", &offset[1], 0.1f, 0.5f, "%.1f"))
+            mGrid->setOffset(offset.cast<double>());
+          ImGui::NextColumn();
+          if (ImGui::InputFloat("Z", &offset[2], 0.1f, 0.5f, "%.1f"))
+            mGrid->setOffset(offset.cast<double>());
+          ImGui::Columns(1);
+
+          static int cellCount;
+          cellCount = static_cast<int>(mGrid->getNumCells());
+          if (ImGui::InputInt("Line Count", &cellCount, 1, 5)) {
+            if (cellCount < 0)
+              cellCount = 0;
+            mGrid->setNumCells(static_cast<std::size_t>(cellCount));
+          }
+
+          static float cellStepSize;
+          cellStepSize = static_cast<float>(mGrid->getMinorLineStepSize());
+          if (ImGui::InputFloat(
+                  "Line Step Size", &cellStepSize, 0.001f, 0.1f)) {
+            mGrid->setMinorLineStepSize(static_cast<double>(cellStepSize));
+          }
+
+          static int minorLinesPerMajorLine;
+          minorLinesPerMajorLine
+              = static_cast<int>(mGrid->getNumMinorLinesPerMajorLine());
+          if (ImGui::InputInt(
+                  "Minor Lines per Major Line",
+                  &minorLinesPerMajorLine,
+                  1,
+                  5)) {
+            if (minorLinesPerMajorLine < 0)
+              minorLinesPerMajorLine = 0;
+            mGrid->setNumMinorLinesPerMajorLine(
+                static_cast<std::size_t>(minorLinesPerMajorLine));
+          }
+
+          static float axisLineWidth;
+          axisLineWidth = mGrid->getAxisLineWidth();
+          if (ImGui::InputFloat(
+                  "Axis Line Width", &axisLineWidth, 1.f, 2.f, "%.0f")) {
+            mGrid->setAxisLineWidth(axisLineWidth);
+          }
+
+          static float majorLineWidth;
+          majorLineWidth = mGrid->getMajorLineWidth();
+          if (ImGui::InputFloat(
+                  "Major Line Width", &majorLineWidth, 1.f, 2.f, "%.0f")) {
+            mGrid->setMajorLineWidth(majorLineWidth);
+          }
+
+          static float majorColor[3];
+          auto internalmajorColor = mGrid->getMajorLineColor();
+          majorColor[0] = static_cast<float>(internalmajorColor.x());
+          majorColor[1] = static_cast<float>(internalmajorColor.y());
+          majorColor[2] = static_cast<float>(internalmajorColor.z());
+          if (ImGui::ColorEdit3("Major Line Color", majorColor)) {
+            internalmajorColor[0] = static_cast<double>(majorColor[0]);
+            internalmajorColor[1] = static_cast<double>(majorColor[1]);
+            internalmajorColor[2] = static_cast<double>(majorColor[2]);
+            mGrid->setMajorLineColor(internalmajorColor);
+          }
+
+          static float minorLineWidth;
+          minorLineWidth = mGrid->getMinorLineWidth();
+          if (ImGui::InputFloat(
+                  "Minor Line Width", &minorLineWidth, 1.f, 2.f, "%.0f")) {
+            mGrid->setMinorLineWidth(minorLineWidth);
+          }
+
+          float minorColor[3];
+          auto internalMinorColor = mGrid->getMinorLineColor();
+          minorColor[0] = static_cast<float>(internalMinorColor.x());
+          minorColor[1] = static_cast<float>(internalMinorColor.y());
+          minorColor[2] = static_cast<float>(internalMinorColor.z());
+          if (ImGui::ColorEdit3("Minor Line Color", minorColor)) {
+            internalMinorColor[0] = static_cast<double>(minorColor[0]);
+            internalMinorColor[1] = static_cast<double>(minorColor[1]);
+            internalMinorColor[2] = static_cast<double>(minorColor[2]);
+            mGrid->setMinorLineColor(internalMinorColor);
+          }
+        }
+      }
+    }
+
+    ImGui::End();
+  }
+
+protected:
+  dart::gui::osg::ImGuiViewer* mViewer;
+  HeightmapWorld* mNode;
+  dynamics::SimpleFramePtr mTerrain;
+  ::osg::ref_ptr<gui::osg::GridVisual> mGrid;
+  std::size_t mXResolution;
+  std::size_t mYResolution;
+  float mXSize;
+  float mYSize;
+  float mZMin;
+  float mZMax;
+};
+
+int main()
+{
+  auto world = dart::simulation::World::create();
+  world->setGravity(Eigen::Vector3d::Zero());
+
+  auto terrain = createHeightmapFrame<float>(100u, 100u, 2.f, 2.f, 0.f, 0.1f);
+  world->addSimpleFrame(terrain);
+
+  assert(world->getNumSimpleFrames() == 1u);
+
+  // Create an instance of our customized WorldNode
+  ::osg::ref_ptr<HeightmapWorld> node = new HeightmapWorld(world);
+  node->setNumStepsPerCycle(16);
+
+  // Create the Viewer instance
+  dart::gui::osg::ImGuiViewer viewer;
+  viewer.addWorldNode(node);
+  viewer.simulate(true);
+
+  // Create grid
+  ::osg::ref_ptr<gui::osg::GridVisual> grid = new gui::osg::GridVisual();
+
+  // Add control widget for atlas
+  viewer.getImGuiHandler()->addWidget(std::make_shared<HeightmapWidget<float>>(
+      &viewer, node.get(), terrain, grid));
+
+  viewer.addAttachment(grid);
+
+  // Print out instructions
+  std::cout << viewer.getInstructions() << std::endl;
+
+  // Set up the window to be 1280x720 pixels
+  viewer.setUpViewInWindow(0, 0, 1280, 720);
+
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(2.57f, 3.14f, 1.64f),
+      ::osg::Vec3(0.00f, 0.00f, 0.30f),
+      ::osg::Vec3(-0.24f, -0.25f, 0.94f));
+  // 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 the application loop
+  viewer.run();
+}

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

@@ -0,0 +1,114 @@
+/*
+ * 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>
+
+#include <osgShadow/ShadowMap>
+
+using namespace dart;
+
+int main()
+{
+  // Create a box-shaped rigid body
+  auto skeleton = dynamics::Skeleton::create();
+  auto jointAndBody
+      = skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>();
+  auto body = jointAndBody.second;
+  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+  tf.translation() << 0, 0, 1;
+  tf.linear() = math::expMapRot(Eigen::Vector3d::Random());
+  body->getParentJoint()->setTransformFromParentBodyNode(tf);
+  auto shapeNode = body->createShapeNodeWith<
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(
+      std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(0.3, 0.3, 0.3)));
+  body->setInertia(dynamics::Inertia(
+      1, Eigen::Vector3d::Zero(), shapeNode->getShape()->computeInertia(1.0)));
+  shapeNode->getVisualAspect()->setColor(dart::Color::Blue());
+
+  // 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(10.0, 10.0, 0.1)));
+  groundShapeNode->getVisualAspect()->setColor(dart::Color::LightGray());
+
+  // Create a world and add the rigid body and ground to the world
+  auto world = simulation::World::create();
+  world->addSkeleton(skeleton);
+  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("Press space to start free falling the box.\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(2.57f, 3.14f, 1.64f),
+      ::osg::Vec3(0.00f, 0.00f, 0.50f),
+      ::osg::Vec3(-0.24f, -0.25f, 0.94f));
+
+  // 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/hubo_puppet/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/hubo_puppet/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.
+