dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

share/doc/dart/examples/soft_bodies/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 <osgViewer/Viewer>
+
+using namespace dart::dynamics;
+
+class RecordingWorld : public dart::gui::osg::RealTimeWorldNode
+{
+public:
+  RecordingWorld(const dart::simulation::WorldPtr& world)
+    : dart::gui::osg::RealTimeWorldNode(world)
+  {
+    grabTimeSlice();
+    mCurrentIndex = 0;
+  }
+
+  void grabTimeSlice()
+  {
+    TimeSlice slice;
+    slice.reserve(mWorld->getNumSkeletons());
+
+    for (std::size_t i = 0; i < mWorld->getNumSkeletons(); ++i) {
+      const SkeletonPtr& skeleton = mWorld->getSkeleton(i);
+      State state;
+      state.mConfig = skeleton->getConfiguration();
+      state.mAspectStates.reserve(skeleton->getNumBodyNodes());
+
+      for (std::size_t j = 0; j < skeleton->getNumBodyNodes(); ++j) {
+        BodyNode* bn = skeleton->getBodyNode(j);
+        state.mAspectStates.push_back(bn->getCompositeState());
+      }
+
+      slice.push_back(state);
+    }
+
+    mHistory.push_back(slice);
+  }
+
+  void customPostStep() override
+  {
+    if (mCurrentIndex < mHistory.size() - 1)
+      mHistory.resize(mCurrentIndex + 1);
+
+    grabTimeSlice();
+    ++mCurrentIndex;
+  }
+
+  void moveTo(std::size_t index)
+  {
+    mViewer->simulate(false);
+
+    if (mHistory.empty())
+      return;
+
+    if (index >= mHistory.size())
+      index = mHistory.size() - 1;
+
+    std::cout << "Moving to time step #" << index << std::endl;
+
+    const TimeSlice& slice = mHistory[index];
+    for (std::size_t i = 0; i < slice.size(); ++i) {
+      const State& state = slice[i];
+      const SkeletonPtr& skeleton = mWorld->getSkeleton(i);
+
+      skeleton->setConfiguration(state.mConfig);
+
+      for (std::size_t j = 0; j < skeleton->getNumBodyNodes(); ++j) {
+        BodyNode* bn = skeleton->getBodyNode(j);
+        bn->setCompositeState(state.mAspectStates[j]);
+      }
+    }
+
+    mCurrentIndex = index;
+  }
+
+  void moveForward(int delta)
+  {
+    moveTo(mCurrentIndex + delta);
+  }
+
+  void moveBackward(int delta)
+  {
+    if (mCurrentIndex > 0)
+      moveTo(mCurrentIndex - delta);
+  }
+
+  void restart()
+  {
+    moveTo(0);
+  }
+
+  void moveToEnd()
+  {
+    moveTo(mHistory.size() - 1);
+  }
+
+  struct State
+  {
+    Skeleton::Configuration mConfig;
+    std::vector<dart::common::Composite::State> mAspectStates;
+  };
+
+  using TimeSlice = std::vector<State>;
+  using History = std::vector<TimeSlice>;
+
+  History mHistory;
+
+  std::size_t mCurrentIndex;
+};
+
+class RecordingEventHandler : public osgGA::GUIEventHandler
+{
+public:
+  RecordingEventHandler(RecordingWorld* rec) : mRecWorld(rec)
+  {
+    // Do nothing
+  }
+
+  virtual bool handle(
+      const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter&) override
+  {
+    if (!mRecWorld)
+      return false;
+
+    if (ea.getEventType() == osgGA::GUIEventAdapter::KEYDOWN) {
+      if (ea.getKey() == '[') {
+        mRecWorld->moveBackward(1);
+        return true;
+      }
+
+      if (ea.getKey() == ']') {
+        mRecWorld->moveForward(1);
+        return true;
+      }
+
+      if (ea.getKey() == '{') {
+        mRecWorld->moveBackward(10);
+        return true;
+      }
+
+      if (ea.getKey() == '}') {
+        mRecWorld->moveForward(10);
+        return true;
+      }
+
+      if (ea.getKey() == 'r') {
+        mRecWorld->restart();
+        return true;
+      }
+
+      if (ea.getKey() == '\\') {
+        mRecWorld->moveToEnd();
+        return true;
+      }
+    }
+
+    return false;
+  }
+
+  RecordingWorld* mRecWorld;
+};
+
+int main()
+{
+  using namespace dart::dynamics;
+
+  dart::simulation::WorldPtr world = dart::utils::SkelParser::readWorld(
+      "dart://sample/skel/softBodies.skel");
+
+  osg::ref_ptr<RecordingWorld> node = new RecordingWorld(world);
+
+  node->simulate(true);
+
+  dart::gui::osg::Viewer viewer;
+  viewer.addWorldNode(node);
+  viewer.addEventHandler(new RecordingEventHandler(node));
+
+  std::cout << viewer.getInstructions() << std::endl;
+
+  viewer.setUpViewInWindow(0, 0, 640, 480);
+
+  viewer.run();
+}

share/doc/dart/examples/speed_test/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/speed_test/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/speed_test/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/utils/utils.hpp"
+
+#include <dart/dart.hpp>
+
+#include <chrono>
+#include <numeric>
+
+double testForwardKinematicSpeed(
+    dart::dynamics::SkeletonPtr skel,
+    bool position = true,
+    bool velocity = true,
+    bool acceleration = true,
+    std::size_t numTests = 100000)
+{
+  if (nullptr == skel)
+    return 0;
+
+  dart::dynamics::BodyNode* bn = skel->getBodyNode(0);
+  while (bn->getNumChildBodyNodes() > 0)
+    bn = bn->getChildBodyNode(0);
+
+  std::chrono::time_point<std::chrono::system_clock> start, end;
+  start = std::chrono::system_clock::now();
+
+  for (std::size_t i = 0; i < numTests; ++i) {
+    for (std::size_t i = 0; i < skel->getNumDofs(); ++i) {
+      dart::dynamics::DegreeOfFreedom* dof = skel->getDof(i);
+      dof->setPosition(dart::math::Random::uniform(
+          std::max(dof->getPositionLowerLimit(), -1.0),
+          std::min(dof->getPositionUpperLimit(), 1.0)));
+    }
+
+    for (std::size_t i = 0; i < skel->getNumBodyNodes(); ++i) {
+      if (position)
+        skel->getBodyNode(i)->getWorldTransform();
+      if (velocity) {
+        skel->getBodyNode(i)->getSpatialVelocity();
+        skel->getBodyNode(i)->getPartialAcceleration();
+      }
+      if (acceleration)
+        skel->getBodyNode(i)->getSpatialAcceleration();
+    }
+  }
+
+  end = std::chrono::system_clock::now();
+
+  std::chrono::duration<double> elapsed_seconds = end - start;
+  return elapsed_seconds.count();
+}
+
+void runKinematicsTest(
+    std::vector<double>& results,
+    const std::vector<dart::simulation::WorldPtr>& worlds,
+    bool position,
+    bool velocity,
+    bool acceleration)
+{
+  double totalTime = 0;
+  std::cout << "Testing: ";
+  if (position)
+    std::cout << "Position ";
+  if (velocity)
+    std::cout << "Velocity ";
+  if (acceleration)
+    std::cout << "Acceleration ";
+  std::cout << "\n";
+
+  // Test for updating the whole skeleton
+  for (std::size_t i = 0; i < worlds.size(); ++i) {
+    dart::simulation::WorldPtr world = worlds[i];
+    totalTime += testForwardKinematicSpeed(
+        world->getSkeleton(0), position, velocity, acceleration);
+  }
+  results.push_back(totalTime);
+  std::cout << "Result: " << totalTime << "s" << std::endl;
+}
+
+double testDynamicsSpeed(
+    dart::simulation::WorldPtr world, std::size_t numIterations = 10000)
+{
+  if (nullptr == world)
+    return 0;
+
+  world->eachSkeleton([](dart::dynamics::Skeleton* skel) {
+    skel->resetPositions();
+    skel->resetVelocities();
+    skel->resetAccelerations();
+  });
+
+  std::chrono::time_point<std::chrono::system_clock> start, end;
+  start = std::chrono::system_clock::now();
+
+  for (std::size_t i = 0; i < numIterations; ++i) {
+    world->step();
+  }
+
+  end = std::chrono::system_clock::now();
+
+  std::chrono::duration<double> elapsed_seconds = end - start;
+  return elapsed_seconds.count();
+}
+
+void runDynamicsTest(
+    std::vector<double>& results,
+    const std::vector<dart::simulation::WorldPtr>& worlds)
+{
+  double totalTime = 0;
+
+  for (std::size_t i = 0; i < worlds.size(); ++i) {
+    totalTime += testDynamicsSpeed(worlds[i]);
+  }
+
+  results.push_back(totalTime);
+  std::cout << "Result: " << totalTime << "s" << std::endl;
+}
+
+void print_results(const std::vector<double>& result)
+{
+  double sum = std::accumulate(result.begin(), result.end(), 0.0);
+  double mean = sum / result.size();
+  std::cout << "Average: " << mean << "\n";
+  std::vector<double> diff(result.size());
+  std::transform(
+      result.begin(),
+      result.end(),
+      diff.begin(),
+      std::bind(std::minus<double>(), mean, std::placeholders::_1));
+  double stddev = std::sqrt(
+      std::inner_product(diff.begin(), diff.end(), diff.begin(), 0.0)
+      / result.size());
+  std::cout << "Std Dev: " << stddev << "\n";
+}
+
+std::vector<std::string> getSceneFiles()
+{
+  std::vector<std::string> scenes;
+  scenes.push_back("dart://sample/skel/test/chainwhipa.skel");
+  scenes.push_back("dart://sample/skel/test/single_pendulum.skel");
+  scenes.push_back("dart://sample/skel/test/single_pendulum_euler_joint.skel");
+  scenes.push_back("dart://sample/skel/test/single_pendulum_ball_joint.skel");
+  scenes.push_back("dart://sample/skel/test/double_pendulum.skel");
+  scenes.push_back("dart://sample/skel/test/double_pendulum_euler_joint.skel");
+  scenes.push_back("dart://sample/skel/test/double_pendulum_ball_joint.skel");
+  scenes.push_back("dart://sample/skel/test/serial_chain_revolute_joint.skel");
+  scenes.push_back("dart://sample/skel/test/serial_chain_eulerxyz_joint.skel");
+  scenes.push_back("dart://sample/skel/test/serial_chain_ball_joint.skel");
+  scenes.push_back("dart://sample/skel/test/serial_chain_ball_joint_20.skel");
+  scenes.push_back("dart://sample/skel/test/serial_chain_ball_joint_40.skel");
+  scenes.push_back("dart://sample/skel/test/simple_tree_structure.skel");
+  scenes.push_back(
+      "dart://sample/skel/test/simple_tree_structure_euler_joint.skel");
+  scenes.push_back(
+      "dart://sample/skel/test/simple_tree_structure_ball_joint.skel");
+  scenes.push_back("dart://sample/skel/test/tree_structure.skel");
+  scenes.push_back("dart://sample/skel/test/tree_structure_euler_joint.skel");
+  scenes.push_back("dart://sample/skel/test/tree_structure_ball_joint.skel");
+  scenes.push_back("dart://sample/skel/fullbody1.skel");
+
+  return scenes;
+}
+
+std::vector<dart::simulation::WorldPtr> getWorlds()
+{
+  std::vector<std::string> sceneFiles = getSceneFiles();
+  std::vector<dart::simulation::WorldPtr> worlds;
+  for (std::size_t i = 0; i < sceneFiles.size(); ++i)
+    worlds.push_back(dart::utils::SkelParser::readWorld(sceneFiles[i]));
+
+  return worlds;
+}
+
+int main(int argc, char* argv[])
+{
+  bool test_kinematics = false;
+  for (int i = 1; i < argc; ++i) {
+    if (std::string(argv[i]) == "-k")
+      test_kinematics = true;
+  }
+
+  std::vector<dart::simulation::WorldPtr> worlds = getWorlds();
+
+  if (test_kinematics) {
+    std::cout << "Testing Kinematics" << std::endl;
+    std::vector<double> acceleration_results;
+    std::vector<double> velocity_results;
+    std::vector<double> position_results;
+
+    for (std::size_t i = 0; i < 10; ++i) {
+      std::cout << "\nTrial #" << i + 1 << std::endl;
+      runKinematicsTest(acceleration_results, worlds, true, true, true);
+      runKinematicsTest(velocity_results, worlds, true, true, false);
+      runKinematicsTest(position_results, worlds, true, false, false);
+    }
+
+    std::cout << "\n\n --- Final Kinematics Results --- \n\n";
+
+    std::cout << "Position, Velocity, Acceleration\n";
+    print_results(acceleration_results);
+
+    std::cout << "\nPosition, Velocity\n";
+    print_results(velocity_results);
+
+    std::cout << "\nPosition\n";
+    print_results(position_results);
+
+    return 0;
+  }
+
+  std::cout << "Testing Dynamics" << std::endl;
+  std::vector<double> dynamics_results;
+  for (std::size_t i = 0; i < 10; ++i) {
+    std::cout << "\nTrial #" << i + 1 << std::endl;
+    runDynamicsTest(dynamics_results, worlds);
+  }
+
+  std::cout << "\n\n --- Final Dynamics Results --- \n\n";
+  print_results(dynamics_results);
+}

share/doc/dart/examples/tinkertoy/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/tinkertoy/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.
+