dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

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

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+cmake_minimum_required(VERSION 3.22.1)
+
+get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+
+project(${example_name})
+
+set(required_components utils-urdf)
+set(required_libraries dart dart-utils-urdf)
+
+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/rigid_chain/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.22.1)
+
+get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+
+project(${example_name})
+
+set(required_components utils-urdf gui-osg)
+set(required_libraries dart dart-utils-urdf dart-gui-osg)
+
+if(DART_IN_SOURCE_BUILD)
+  dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})
+  return()
+endif()
+
+find_package(DART 6.15.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+
+file(GLOB srcs "*.cpp" "*.hpp")
+add_executable(${example_name} ${srcs})
+target_link_libraries(${example_name} PUBLIC ${required_libraries})

share/doc/dart/examples/rigid_chain/README.md

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+This project is dependent on DART. Please make sure a proper version of DART is
+installed before building this project.
+
+## Build Instructions
+
+From this directory:
+
+    $ mkdir build
+    $ cd build
+    $ cmake ..
+    $ make
+
+## Execute Instructions
+
+Launch the executable from the build directory above:
+
+    $ ./{generated_executable}
+
+Follow the instructions detailed in the console.

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

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <dart/gui/osg/osg.hpp>
+
+#include <dart/utils/utils.hpp>
+
+#include <dart/dart.hpp>
+
+class RigidChainWorldNode : public dart::gui::osg::RealTimeWorldNode
+{
+public:
+  RigidChainWorldNode(dart::simulation::WorldPtr world)
+    : dart::gui::osg::RealTimeWorldNode(world)
+  {
+  }
+
+protected:
+  void customPreStep() override
+  {
+    // Apply damping forces before each simulation step
+    Eigen::VectorXd damping = computeDamping();
+    mWorld->getSkeleton(0)->setForces(damping);
+  }
+
+private:
+  Eigen::VectorXd computeDamping()
+  {
+    int nDof = mWorld->getSkeleton(0)->getNumDofs();
+    // add damping to each joint; twist-dof has smaller damping
+    Eigen::VectorXd damping = -0.01 * mWorld->getSkeleton(0)->getVelocities();
+    for (int i = 0; i < nDof; i++)
+      if (i % 3 == 1)
+        damping[i] *= 0.1;
+    return damping;
+  }
+};
+
+int main()
+{
+  // create and initialize the world
+  dart::simulation::WorldPtr myWorld
+      = dart::utils::SkelParser::readWorld("dart://sample/skel/chain.skel");
+  assert(myWorld != nullptr);
+
+  // create and initialize the world
+  Eigen::Vector3d gravity(0.0, -9.81, 0.0);
+  myWorld->setGravity(gravity);
+  myWorld->setTimeStep(1.0 / 2000);
+
+  int dof = myWorld->getSkeleton(0)->getNumDofs();
+  Eigen::VectorXd initPose(dof);
+  for (int i = 0; i < dof; i++)
+    initPose[i] = dart::math::Random::uniform(-0.5, 0.5);
+  myWorld->getSkeleton(0)->setPositions(initPose);
+
+  // Create a WorldNode and wrap it around the world
+  ::osg::ref_ptr<RigidChainWorldNode> node = new RigidChainWorldNode(myWorld);
+
+  // Create a Viewer and set it up with the WorldNode
+  dart::gui::osg::Viewer viewer;
+  viewer.addWorldNode(node);
+
+  // Set up the window to be 640x480
+  viewer.setUpViewInWindow(0, 0, 640, 480);
+
+  // Adjust the viewpoint of the Viewer
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(2.0f, 1.0f, 2.0f),
+      ::osg::Vec3(0.0f, 0.0f, 0.0f),
+      ::osg::Vec3(0.0f, 0.0f, 1.0f));
+
+  // We need to re-dirty the CameraManipulator by passing it into the viewer
+  // again, so that the viewer knows to update its HomePosition setting
+  viewer.setCameraManipulator(viewer.getCameraManipulator());
+
+  // Begin running the application loop
+  viewer.run();
+
+  return 0;
+}

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

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+cmake_minimum_required(VERSION 3.22.1)
+
+get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+
+project(${example_name})
+
+set(required_components utils-urdf gui-osg)
+set(required_libraries dart dart-utils-urdf dart-gui-osg)
+
+if(DART_IN_SOURCE_BUILD)
+  dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})
+  return()
+endif()
+
+find_package(DART 6.15.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+
+file(GLOB srcs "*.cpp" "*.hpp")
+add_executable(${example_name} ${srcs})
+target_link_libraries(${example_name} PUBLIC ${required_libraries})

share/doc/dart/examples/rigid_cubes/README.md

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+# Rigid Cubes Example
+
+This example demonstrates basic rigid body simulation with interactive force application using DART's OpenSceneGraph (OSG) viewer. The example loads a world containing multiple rigid cube objects and allows real-time interaction through keyboard controls.
+
+## What This Example Demonstrates
+
+- **Rigid Body Physics**: Simulation of multiple rigid body cubes with gravity
+- **Force Application**: Interactive application of external forces to rigid bodies
+- **OSG Viewer Pattern**: Modern DART visualization using OpenSceneGraph
+- **Real-time Simulation**: Continuous physics simulation with real-time rendering
+- **Event Handling**: Keyboard input handling in OSG viewer context
+
+## Features
+
+- Real-time rigid body simulation with gravity
+- Interactive force application with keyboard controls
+- Proper OSG viewer setup with shadow rendering
+- Force decay mechanism (forces reduce by half each simulation step)
+- Visual feedback for applied forces
+
+## Controls
+
+- **Space bar**: Toggle simulation on/off
+- **'p'**: Toggle playback/stop mode
+- **'v'**: Toggle visualization markers
+- **'1'**: Apply negative X direction force (-500N)
+- **'2'**: Apply positive X direction force (+500N)
+- **'3'**: Apply negative Z direction force (-500N)
+- **'4'**: Apply positive Z direction force (+500N)
+
+## Implementation Details
+
+### OSG Viewer Components
+
+1. **RigidCubesWorldNode**: Custom world node extending `RealTimeWorldNode`
+   - Handles force application and decay in `customPreStep()`
+   - Manages external force state between simulation steps
+
+2. **RigidCubesEventHandler**: Custom event handler for keyboard input
+   - Processes simulation control keys (space, 'p', 'v')
+   - Handles force application keys ('1'-'4')
+   - Provides console feedback for user actions
+
+3. **Main Function**: Standard OSG viewer setup pattern
+   - World loading from skeleton file
+   - OSG viewer configuration with shadow support
+   - Camera positioning and window setup
+   - Event handler registration
+
+### Physics Simulation
+
+- Loads world from `dart://sample/skel/cubes.skel`
+- Applies gravity: (0, -9.81, 0) m/s²
+- Forces are applied to the second skeleton's first body node
+- Force magnitude: 500N in specified directions
+- Force decay: Reduces by 50% each simulation step
+
+## Build Instructions
+
+This project requires DART with OSG support. From this directory:
+
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+## Execute Instructions
+
+Launch the executable from the build directory:
+
+```bash
+./rigid_cubes
+```
+
+Follow the control instructions displayed in the console and viewer window.
+
+## Technical Notes
+
+- **Converted from GLUT**: This example was converted from the deprecated GLUT-based `glut_rigid_cubes` example
+- **OSG Patterns**: Uses modern OSG viewer patterns with proper reference counting
+- **Real-time Simulation**: Leverages `RealTimeWorldNode` for smooth physics stepping
+- **Shadow Rendering**: Includes default shadow technique for enhanced visualization
+- **Force Management**: Implements the same force application and decay logic as the original GLUT version
+
+## Related Examples
+
+- `boxes`: Similar rigid body simulation with different interaction
+- `rigid_shapes`: More complex rigid body shapes and interactions
+- `atlas_puppet`: Advanced OSG viewer usage with robot manipulation

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

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <dart/gui/osg/osg.hpp>
+
+#include <dart/utils/utils.hpp>
+
+#include <dart/dart.hpp>
+
+#include <iostream>
+
+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;
+
+class RigidCubesWorldNode : public dart::gui::osg::RealTimeWorldNode
+{
+public:
+  RigidCubesWorldNode(
+      dart::simulation::WorldPtr world,
+      ::osg::ref_ptr<osgShadow::ShadowTechnique> shadow = nullptr)
+    : dart::gui::osg::RealTimeWorldNode(std::move(world), std::move(shadow)),
+      mForce(Eigen::Vector3d::Zero())
+  {
+  }
+
+  void customPreStep() override
+  {
+    // Apply the force to the second skeleton (index 1), first body node
+    if (mWorld->getNumSkeletons() > 1) {
+      mWorld->getSkeleton(1)->getBodyNode(0)->addExtForce(mForce);
+    }
+
+    // Decay the force by half each step (as in original)
+    mForce /= 2.0;
+  }
+
+  void setForce(const Eigen::Vector3d& force)
+  {
+    mForce = force;
+  }
+
+protected:
+  Eigen::Vector3d mForce;
+};
+
+class RigidCubesEventHandler : public ::osgGA::GUIEventHandler
+{
+public:
+  RigidCubesEventHandler(
+      dart::gui::osg::Viewer* viewer,
+      RigidCubesWorldNode* worldNode,
+      const WorldPtr& world)
+    : mViewer(viewer), mWorldNode(worldNode), mWorld(world)
+  {
+  }
+
+  virtual bool handle(
+      const ::osgGA::GUIEventAdapter& ea, ::osgGA::GUIActionAdapter&) override
+  {
+    if (::osgGA::GUIEventAdapter::KEYDOWN == ea.getEventType()) {
+      static bool eventHandlerOn = true;
+      switch (ea.getKey()) {
+        case ' ': // Space bar: toggle simulation
+          mViewer->simulate(!mViewer->isSimulating());
+          return true;
+        case 'p': // Toggle playback mode
+          eventHandlerOn = !eventHandlerOn;
+          mViewer->switchDefaultEventHandler(eventHandlerOn);
+          return true;
+        case 'v': // Toggle visualization markers
+          if (mWorldNode) {
+            // Toggle marker visibility (implementation would depend on specific
+            // markers)
+            std::cout << "Toggling visualization markers\n";
+          }
+          return true;
+        case '1': // Apply negative X force
+          if (mWorldNode) {
+            mWorldNode->setForce(Eigen::Vector3d(-500, 0, 0));
+            std::cout << "Applied -X force\n";
+          }
+          return true;
+        case '2': // Apply positive X force
+          if (mWorldNode) {
+            mWorldNode->setForce(Eigen::Vector3d(500, 0, 0));
+            std::cout << "Applied +X force\n";
+          }
+          return true;
+        case '3': // Apply negative Z force
+          if (mWorldNode) {
+            mWorldNode->setForce(Eigen::Vector3d(0, 0, -500));
+            std::cout << "Applied -Z force\n";
+          }
+          return true;
+        case '4': // Apply positive Z force
+          if (mWorldNode) {
+            mWorldNode->setForce(Eigen::Vector3d(0, 0, 500));
+            std::cout << "Applied +Z force\n";
+          }
+          return true;
+        default:
+          return false;
+      }
+    }
+    return false;
+  }
+
+protected:
+  dart::gui::osg::Viewer* mViewer;
+  RigidCubesWorldNode* mWorldNode;
+  WorldPtr mWorld;
+};
+
+int main()
+{
+  // Create and initialize the world
+  auto world
+      = dart::utils::SkelParser::readWorld("dart://sample/skel/cubes.skel");
+  if (!world) {
+    dterr << "Failed to load world.\n";
+    return EXIT_FAILURE;
+  }
+  world->setGravity(Eigen::Vector3d(0.0, -9.81, 0.0));
+
+  // Create OSG viewer
+  dart::gui::osg::Viewer viewer;
+
+  // Create shadow technique
+  auto shadow
+      = dart::gui::osg::WorldNode::createDefaultShadowTechnique(&viewer);
+
+  // Create custom world node
+  ::osg::ref_ptr<RigidCubesWorldNode> worldNode
+      = new RigidCubesWorldNode(world, shadow);
+  viewer.addWorldNode(worldNode);
+
+  // Create and add event handler
+  ::osg::ref_ptr<RigidCubesEventHandler> eventHandler
+      = new RigidCubesEventHandler(&viewer, worldNode, world);
+  viewer.addEventHandler(eventHandler);
+
+  // Set up the viewer window
+  viewer.setUpViewInWindow(0, 0, 640, 480);
+
+  // Set up camera position
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(5.0f, 5.0f, 5.0f),
+      ::osg::Vec3(0.0f, 0.0f, 0.0f),
+      ::osg::Vec3(0.0f, 0.0f, 1.0f));
+  viewer.setCameraManipulator(viewer.getCameraManipulator());
+
+  // Add instruction text
+  viewer.addInstructionText("Rigid Cubes Example\n");
+  viewer.addInstructionText("Controls:\n");
+  viewer.addInstructionText("  space bar: simulation on/off\n");
+  viewer.addInstructionText("  'p': playback/stop\n");
+  viewer.addInstructionText("  'v': visualization on/off\n");
+  viewer.addInstructionText("  '1'-'4': apply directional forces\n");
+  viewer.addInstructionText("    '1': -X force    '2': +X force\n");
+  viewer.addInstructionText("    '3': -Z force    '4': +Z force\n");
+
+  // Print instructions to console
+  std::cout << viewer.getInstructions() << std::endl;
+
+  // Run the simulation
+  return viewer.run();
+}

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

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+cmake_minimum_required(VERSION 3.22.1)
+
+get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+
+project(${example_name})
+
+set(required_components utils-urdf gui-osg)
+set(required_libraries dart dart-utils-urdf dart-gui-osg)
+
+if(DART_IN_SOURCE_BUILD)
+  dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})
+  return()
+endif()
+
+find_package(DART 6.15.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+
+file(GLOB srcs "*.cpp" "*.hpp")
+add_executable(${example_name} ${srcs})
+target_link_libraries(${example_name} PUBLIC ${required_libraries})

share/doc/dart/examples/rigid_loop/README.md

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+# Rigid Loop Example
+
+This example demonstrates a closed-loop chain simulation using DART with OSG for visualization.
+
+## Description
+
+This example shows:
+- Loading a chain skeleton from a SKEL file
+- Creating ball joint constraints to form a closed loop
+- Applying damping forces during simulation
+- Using the OSG viewer for 3D visualization
+
+The red-colored body nodes are connected by a ball joint constraint to close the kinematic loop, creating interesting dynamics as the chain moves under gravity and damping forces.
+
+## Build Instructions
+
+From this directory:
+
+    $ mkdir build
+    $ cd build
+    $ cmake ..
+    $ make
+
+## Execute Instructions
+
+Launch the executable from the build directory above:
+
+    $ ./rigid_loop
+
+## Controls
+
+- **Space bar**: Play/pause simulation
+- **ESC**: Exit application
+- **Mouse**: Rotate, zoom, and pan the camera view

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

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <dart/gui/osg/osg.hpp>
+
+#include <dart/utils/utils.hpp>
+
+#include <dart/dart.hpp>
+
+using namespace dart;
+using namespace math;
+using namespace dynamics;
+using namespace simulation;
+using namespace constraint;
+
+class RigidLoopWorldNode : public dart::gui::osg::WorldNode
+{
+public:
+  RigidLoopWorldNode(dart::simulation::WorldPtr world)
+    : dart::gui::osg::WorldNode(world), mWorld(world)
+  {
+  }
+
+  void customPreStep() override
+  {
+    Eigen::VectorXd damping = computeDamping();
+    mWorld->getSkeleton(0)->setForces(damping);
+  }
+
+private:
+  Eigen::VectorXd computeDamping()
+  {
+    int nDof = mWorld->getSkeleton(0)->getNumDofs();
+    // add damping to each joint; twist-dof has smaller damping
+    Eigen::VectorXd damping = -0.01 * mWorld->getSkeleton(0)->getVelocities();
+    for (int i = 0; i < nDof; i++)
+      if (i % 3 == 1)
+        damping[i] *= 0.1;
+    return damping;
+  }
+
+  dart::simulation::WorldPtr mWorld;
+};
+
+int main()
+{
+  // load a skeleton file
+  // create and initialize the world
+  dart::simulation::WorldPtr myWorld
+      = utils::SkelParser::readWorld("dart://sample/skel/chain.skel");
+  assert(myWorld != nullptr);
+
+  // create and initialize the world
+  Eigen::Vector3d gravity(0.0, -9.81, 0.0);
+  myWorld->setGravity(gravity);
+  myWorld->setTimeStep(1.0 / 2000);
+
+  int dof = myWorld->getSkeleton(0)->getNumDofs();
+
+  Eigen::VectorXd initPose(dof);
+  initPose.setZero();
+  initPose[20] = 3.14159 * 0.4;
+  initPose[23] = 3.14159 * 0.4;
+  initPose[26] = 3.14159 * 0.4;
+  initPose[29] = 3.14159 * 0.4;
+  myWorld->getSkeleton(0)->setPositions(initPose);
+
+  // create a ball joint constraint
+  BodyNode* bd1 = myWorld->getSkeleton(0)->getBodyNode("link 6");
+  BodyNode* bd2 = myWorld->getSkeleton(0)->getBodyNode("link 10");
+  bd1->setColor(Eigen::Vector3d(1.0, 0.0, 0.0));
+  bd2->setColor(Eigen::Vector3d(1.0, 0.0, 0.0));
+  Eigen::Vector3d offset(0.0, 0.025, 0.0);
+  Eigen::Vector3d jointPos = bd1->getTransform() * offset;
+  BallJointConstraintPtr cl
+      = std::make_shared<BallJointConstraint>(bd1, bd2, jointPos);
+  // WeldJointConstraint *cl = new WeldJointConstraint(bd1, bd2);
+  myWorld->getConstraintSolver()->addConstraint(cl);
+
+  // Create OSG viewer
+  dart::gui::osg::Viewer viewer;
+  viewer.addWorldNode(new RigidLoopWorldNode(myWorld));
+
+  // Print instructions
+  std::cout << "Rigid Loop Chain Simulation\n";
+  std::cout << "Red links are connected by a ball joint constraint to form a "
+               "closed loop\n";
+  std::cout << "Space bar: Play/pause simulation\n";
+  std::cout << "ESC: Exit\n" << std::endl;
+
+  // Set up the window
+  viewer.setUpViewInWindow(0, 0, 640, 480);
+
+  // Run the viewer
+  viewer.run();
+
+  return 0;
+}

share/doc/dart/examples/rigid_shapes/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})