dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

share/doc/dart/examples/wam_ikfast/osgWamIkFast.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 "Helpers.hpp"
+#include "InputHandler.hpp"
+#include "WamWorld.hpp"
+
+#include <dart/gui/osg/osg.hpp>
+
+#include <dart/dart.hpp>
+
+#include <iostream>
+
+int main()
+{
+  // Create the world.
+  dart::simulation::WorldPtr world(new dart::simulation::World);
+
+  // Create an Wam arm
+  SkeletonPtr wam = createWam();
+  setStartupConfiguration(wam);
+  setupEndEffectors(wam);
+  world->addSkeleton(wam);
+
+  // Create the ground
+  world->addSkeleton(createGround());
+
+  ::osg::ref_ptr<WamWorld> node = new WamWorld(world, wam);
+
+  dart::gui::osg::Viewer viewer;
+  viewer.allowSimulation(false);
+  viewer.addWorldNode(node);
+
+  enableDragAndDrops(viewer, wam);
+
+  viewer.addEventHandler(new InputHandler(&viewer, node, wam, world));
+
+  std::cout << viewer.getInstructions() << std::endl;
+  std::cout
+      << "Alt + Click:   Try to translate a body without changing its "
+         "orientation\n"
+      << "Ctrl + Click:  Try to rotate a body without changing its "
+         "translation\n"
+      << "Shift + Click: Move a body using only its parent joint\n"
+      << "1:             Toggle the interactive target of an EndEffector\n"
+      << "P:             Print the current joint values\n"
+      << "T:             Reset the robot to its relaxed posture\n"
+      << "The blue/red ball is the robot's center of mass.\n"
+      << "\n"
+      << "Note that this is purely kinematic. Physical simulation is not "
+         "allowed in this app.\n"
+      << std::endl;
+
+  // Set up the window
+  viewer.setUpViewInWindow(0, 0, 1280, 960);
+
+  // Set up the default viewing position
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(5.34, 3.00, 1.91),
+      ::osg::Vec3(0.00, 0.00, 0.50),
+      ::osg::Vec3(-0.00, -0.00, 0.98));
+
+  // Reset the camera manipulator so that it starts in the new viewing position
+  viewer.setCameraManipulator(viewer.getCameraManipulator());
+
+  viewer.run();
+}

share/doc/dart/tutorials/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.22.1)
+
+project(dart-tutorials)
+
+add_subdirectory(tutorial_biped)
+add_subdirectory(tutorial_biped_finished)
+add_subdirectory(tutorial_collisions)
+add_subdirectory(tutorial_collisions_finished)
+add_subdirectory(tutorial_dominoes)
+add_subdirectory(tutorial_dominoes_finished)
+add_subdirectory(tutorial_multi_pendulum)
+add_subdirectory(tutorial_multi_pendulum_finished)

share/doc/dart/tutorials/README.md

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+# DART Tutorials README
+
+The purpose of this set of tutorials is to provide a quick introduction to
+using DART. We designed many hands-on exercises to make the learning
+effective and fun. To follow along with this tutorial, first locate
+the tutorial code in the directory:
+[dart/tutorials](https://github.com/dartsim/dart/blob/main/tutorials).
+For each of the four tutorials, we provide the skeleton code as the starting
+point (e.g. [tutorial_multi_pendulum.cpp]
+(https://github.com/dartsim/dart/blob/main/tutorials/
+tutorial_multi_pendulum.cpp)) and the final code as the answer to the tutorial
+(e.g. [tutorial_multi_pendulum_finished.cpp](https://github.com/dartsim/dart/blob/main/tutorials/tutorial_multi_pendulum_finished.cpp)).
+
+## Build Each Example
+
+Copy the subdirectory to your workspace and follow the instruction of README.md
+in the subdirectory.
+
+## Build Examples as One Project
+
+### Build Instructions
+
+This project is dependent on DART. Please make sure a proper version of DART is
+installed before building this project.
+
+Copy this directory to your workspace (e.g., in Linux):
+
+    $ cp -r tutorials /your/workspace/directory/dart_tutorials
+    $ cd /your/workspace/directory/dart_tutorials
+
+From the workspace directory:
+
+    $ mkdir build
+    $ cd build
+    $ cmake ..
+    $ make
+
+### Execute Instructions
+
+Launch the each executable from the build directory above (e.g.,):
+
+    $ ./tutorial_biped/tutorial_biped
+
+Follow the instructions detailed in the console.
+

share/doc/dart/tutorials/tutorial_biped/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 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_tutorial_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/tutorials/tutorial_biped/README

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+This project is dependent on DART. Please make sure a proper version of DART is 
+installed before building this project.
+
+1. Build Instructions
+
+ * From this directory:
+  $ mkdir build
+  $ cd build
+  $ cmake ..
+  $ make
+
+2. Execute Instructions
+
+ * Launch the executable from the build directory above:
+  $ ./{generated_executable}
+
+ * Follow the instructions detailed in the console.
+

share/doc/dart/tutorials/tutorial_biped/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>
+
+const double default_speed_increment = 0.5;
+
+[[maybe_unused]] const int default_ik_iterations = 4500;
+
+const double default_force = 50.0; // N
+const int default_countdown = 100; // Number of timesteps for applying force
+
+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 Controller
+{
+public:
+  /// Constructor
+  Controller(const SkeletonPtr& biped)
+    : mBiped(biped), mPreOffset(0.0), mSpeed(0.0)
+  {
+    int nDofs = mBiped->getNumDofs();
+
+    mForces = Eigen::VectorXd::Zero(nDofs);
+
+    mKp = Eigen::MatrixXd::Identity(nDofs, nDofs);
+    mKd = Eigen::MatrixXd::Identity(nDofs, nDofs);
+
+    for (std::size_t i = 0; i < 6; ++i) {
+      mKp(i, i) = 0.0;
+      mKd(i, i) = 0.0;
+    }
+
+    for (std::size_t i = 6; i < biped->getNumDofs(); ++i) {
+      mKp(i, i) = 1000;
+      mKd(i, i) = 50;
+    }
+
+    setTargetPositions(mBiped->getPositions());
+  }
+
+  /// Reset the desired dof position to the current position
+  void setTargetPositions(const Eigen::VectorXd& pose)
+  {
+    mTargetPositions = pose;
+  }
+
+  /// Clear commanding forces
+  void clearForces()
+  {
+    mForces.setZero();
+  }
+
+  /// Add commanding forces from PD controllers
+  void addPDForces()
+  {
+    // Lesson 2
+  }
+
+  /// Add commanind forces from Stable-PD controllers
+  void addSPDForces()
+  {
+    // Lesson 3
+  }
+
+  /// add commanding forces from ankle strategy
+  void addAnkleStrategyForces()
+  {
+    // Lesson 4
+  }
+
+  // Send velocity commands on wheel actuators
+  void setWheelCommands()
+  {
+    // Lesson 6
+  }
+
+  void changeWheelSpeed(double increment)
+  {
+    mSpeed += increment;
+    std::cout << "wheel speed = " << mSpeed << std::endl;
+  }
+
+protected:
+  /// The biped Skeleton that we will be controlling
+  SkeletonPtr mBiped;
+
+  /// Joint forces for the biped (output of the Controller)
+  Eigen::VectorXd mForces;
+
+  /// Control gains for the proportional error terms in the PD controller
+  Eigen::MatrixXd mKp;
+
+  /// Control gains for the derivative error terms in the PD controller
+  Eigen::MatrixXd mKd;
+
+  /// Target positions for the PD controllers
+  Eigen::VectorXd mTargetPositions;
+
+  /// For ankle strategy: Error in the previous timestep
+  double mPreOffset;
+
+  /// For velocity actuator: Current speed of the skateboard
+  double mSpeed;
+};
+
+class BipedEventHandler : public ::osgGA::GUIEventHandler
+{
+public:
+  BipedEventHandler(const WorldPtr& world, Controller* controller)
+    : mWorld(world),
+      mController(controller),
+      mForceCountDown(0),
+      mPositiveSign(true)
+  {
+  }
+
+  bool handle(
+      const ::osgGA::GUIEventAdapter& ea, ::osgGA::GUIActionAdapter&) override
+  {
+    if (ea.getEventType() == ::osgGA::GUIEventAdapter::KEYDOWN) {
+      switch (ea.getKey()) {
+        case ',':
+          mForceCountDown = default_countdown;
+          mPositiveSign = false;
+          return true;
+        case '.':
+          mForceCountDown = default_countdown;
+          mPositiveSign = true;
+          return true;
+        case 'a':
+        case 'A':
+          mController->changeWheelSpeed(default_speed_increment);
+          return true;
+        case 's':
+        case 'S':
+          mController->changeWheelSpeed(-default_speed_increment);
+          return true;
+        default:
+          return false;
+      }
+    }
+    return false;
+  }
+
+  void update()
+  {
+    mController->clearForces();
+
+    // Lesson 3
+    mController->addSPDForces();
+
+    // Lesson 4
+    mController->addAnkleStrategyForces();
+
+    // Lesson 6
+    mController->setWheelCommands();
+
+    // Apply body forces based on user input, and color the body shape red
+    if (mForceCountDown > 0) {
+      BodyNode* bn = mWorld->getSkeleton("biped")->getBodyNode("h_abdomen");
+      bn->setColor(dart::Color::Red());
+
+      if (mPositiveSign)
+        bn->addExtForce(
+            default_force * Eigen::Vector3d::UnitX(),
+            bn->getCOM(),
+            false,
+            false);
+      else
+        bn->addExtForce(
+            -default_force * Eigen::Vector3d::UnitX(),
+            bn->getCOM(),
+            false,
+            false);
+
+      --mForceCountDown;
+    }
+  }
+
+protected:
+  WorldPtr mWorld;
+  Controller* mController;
+
+  /// Number of iterations before clearing a force entry
+  int mForceCountDown;
+
+  /// Whether a force should be applied in the positive or negative direction
+  bool mPositiveSign;
+};
+
+class CustomWorldNode : public RealTimeWorldNode
+{
+public:
+  CustomWorldNode(const WorldPtr& world, BipedEventHandler* handler)
+    : RealTimeWorldNode(world), mHandler(handler)
+  {
+  }
+
+  void customPreStep() override
+  {
+    mHandler->update();
+  }
+
+protected:
+  BipedEventHandler* mHandler;
+};
+
+// Load a biped model and enable joint limits and self-collision
+SkeletonPtr loadBiped()
+{
+  // Lesson 1
+
+  // Create the world with a skeleton
+  WorldPtr world = SkelParser::readWorld("dart://sample/skel/biped.skel");
+  assert(world != nullptr);
+
+  SkeletonPtr biped = world->getSkeleton("biped");
+
+  return biped;
+}
+
+// Load a skateboard model and connect it to the biped model via an Euler joint
+void modifyBipedWithSkateboard(SkeletonPtr /*biped*/)
+{
+  // Lesson 5
+}
+
+// Set the actuator type for four wheel joints to "VELOCITY"
+void setVelocityActuators(SkeletonPtr /*biped*/)
+{
+  // Lesson 6
+}
+
+// Solve for a balanced pose using IK
+Eigen::VectorXd solveIK(SkeletonPtr biped)
+{
+  // Lesson 7
+  Eigen::VectorXd newPose = biped->getPositions();
+  return newPose;
+}
+
+SkeletonPtr createFloor()
+{
+  SkeletonPtr floor = Skeleton::create("floor");
+
+  // Give the floor a body
+  BodyNodePtr body
+      = floor->createJointAndBodyNodePair<WeldJoint>(nullptr).second;
+
+  // Give the body a shape
+  double floor_width = 10.0;
+  double floor_height = 0.01;
+  std::shared_ptr<BoxShape> box(
+      new BoxShape(Eigen::Vector3d(floor_width, floor_height, floor_width)));
+  auto shapeNode = body->createShapeNodeWith<
+      VisualAspect,
+      CollisionAspect,
+      DynamicsAspect>(box);
+  shapeNode->getVisualAspect()->setColor(dart::Color::Black());
+
+  // Put the body into position
+  Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
+  tf.translation() = Eigen::Vector3d(0.0, -1.0, 0.0);
+  body->getParentJoint()->setTransformFromParentBodyNode(tf);
+
+  return floor;
+}
+
+int main()
+{
+  SkeletonPtr floor = createFloor();
+
+  // Lesson 1
+  SkeletonPtr biped = loadBiped();
+
+  // Lesson 5
+  modifyBipedWithSkateboard(biped);
+
+  // Lesson 6
+  setVelocityActuators(biped);
+
+  // Lesson 7
+  Eigen::VectorXd balancedPose = solveIK(biped);
+  biped->setPositions(balancedPose);
+
+  WorldPtr world = std::make_shared<World>();
+  world->setGravity(Eigen::Vector3d(0.0, -9.81, 0.0));
+
+  if (dart::collision::CollisionDetector::getFactory()->canCreate("bullet")) {
+    world->getConstraintSolver()->setCollisionDetector(
+        dart::collision::CollisionDetector::getFactory()->create("bullet"));
+  }
+
+  world->addSkeleton(floor);
+  world->addSkeleton(biped);
+
+  // Create controller and event handler
+  auto controller = std::make_unique<Controller>(biped);
+  auto handler = new BipedEventHandler(world, controller.get());
+
+  // Create a WorldNode and wrap it around the world
+  ::osg::ref_ptr<CustomWorldNode> node = new CustomWorldNode(world, handler);
+
+  // Create a Viewer and set it up with the WorldNode
+  auto viewer = Viewer();
+  viewer.addWorldNode(node);
+  viewer.addEventHandler(handler);
+
+  // Print instructions
+  viewer.addInstructionText("'.': forward push\n");
+  viewer.addInstructionText("',': backward push\n");
+  viewer.addInstructionText("'s': increase skateboard forward speed\n");
+  viewer.addInstructionText("'a': increase skateboard backward speed\n");
+  viewer.addInstructionText("space bar: simulation on/off\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(5.0f, 3.0f, 3.0f),
+      ::osg::Vec3(0.0f, 0.0f, 1.0f),
+      ::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/tutorials/tutorial_biped_finished/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 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_tutorial_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/tutorials/tutorial_biped_finished/README

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+This project is dependent on DART. Please make sure a proper version of DART is 
+installed before building this project.
+
+1. Build Instructions
+
+ * From this directory:
+  $ mkdir build
+  $ cd build
+  $ cmake ..
+  $ make
+
+2. Execute Instructions
+
+ * Launch the executable from the build directory above:
+  $ ./{generated_executable}
+
+ * Follow the instructions detailed in the console.
+