DART Examples README

Overview

• Examples live flat under examples/ for simpler discovery and tooling.
• Category order is defined below; directory names stay short and stable.
• Tutorials remain in tutorials/.

Categories (Ordered)

00 Getting Started

• hello_world
• simple_frames

01 Rigid Bodies and Frames

• boxes
• hardcoded_design
• rigid_cubes

02 Joints and Constraints

• coupler_constraint
• free_joint_cases
• human_joint_limits
• joint_constraints
• lcp_solvers
• mimic_pendulums
• rigid_chain
• rigid_loop

03 Collisions and Contacts

• box_stacking
• capsule_ground_contact
• heightmap
• rigid_shapes

04 Control and IK

• atlas_puppet
• atlas_simbicon
• biped_stand
• hubo_puppet
• operational_space_control
• vehicle
• wam_ikfast

05 IO and Models

• fetch
• g1_puppet
• unified_loading

06 Soft and Hybrid

• hybrid_dynamics
• mixed_chain
• soft_bodies

07 Visualization and Interaction

• add_delete_skels
• drag_and_drop
• empty
• imgui
• polyhedron_visual
• raylib
• simulation_event_handler
• tinkertoy

08 Performance and Scaling

• headless_simulation
• speed_test

09 Integration and Tools

• csv_logger
• point_cloud (requires OctoMap)
• rerun

Build Each Example

Copy the example directory to your workspace and follow the instruction of any README.md in that example directory.

If you are working inside the DART repo, prefer the pixi run entry points documented in docs/onboarding/building.md when available.

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 examples /your/workspace/directory/dart_examples
$ cd /your/workspace/directory/dart_examples

From the workspace directory:

$ mkdir build
$ cd build
$ cmake ..
$ make

Execute Instructions

Launch the each executable from the build directory above (e.g.,):

$ ./hello_world

Follow the instructions detailed in the console.