# bipedal-locomotion-framework: examples main

Official bipedal-locomotion-framework native main example for examples main. Inspect the pinned source and upstream setup before use.

ID: `bipedal-locomotion-framework-examples-unicycletrajectorygenerator-main-cpp`

Record version: `source-c10a81c1d75e1feb177e941f30c90ef8c19f7cb91fd7831bd751da4ced791c9f`

Hub commit: `f97266a5cdd2c600cd376397a54892f08290df20`

## Access

Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source bipedal-locomotion-framework-examples-unicycletrajectorygenerator-main-cpp --expected-source-revision 1cca6bafd23780f8a0e996a01febe75909fc9956 --expected-source-sha256 c10a81c1d75e1feb177e941f30c90ef8c19f7cb91fd7831bd751da4ced791c9f --project ./experiment --json`. This verifies one file, preserves provenance and never installs or runs it. See [source-file retrieval](https://hub.superfastrobotics.com/source-files.md).

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/gbionics/bipedal-locomotion-framework/blob/1cca6bafd23780f8a0e996a01febe75909fc9956/README.md

## Source and license

- Repository: https://github.com/gbionics/bipedal-locomotion-framework
- Pinned source: https://github.com/gbionics/bipedal-locomotion-framework/blob/1cca6bafd23780f8a0e996a01febe75909fc9956/examples/UnicycleTrajectoryGenerator/main.cpp
- Revision: `1cca6bafd23780f8a0e996a01febe75909fc9956`
- Path: `examples/UnicycleTrajectoryGenerator/main.cpp`
- Source SHA256: `c10a81c1d75e1feb177e941f30c90ef8c19f7cb91fd7831bd751da4ced791c9f`
- Source bytes: 11661
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/gbionics/bipedal-locomotion-framework/blob/1cca6bafd23780f8a0e996a01febe75909fc9956/LICENSE)
- License scope: Repository-root code terms only; file headers, third-party code, models, weights, assets and datasets require separate review.

License SHA256: `b3b777434ca3934d5dbfc68cdf49ce3dc3ed0a4be08770c58e8f39f559b6a883`

## Requirements

```json
{
  "python": "Inspect the pinned upstream package metadata for the supported Python version.",
  "packages": [],
  "display": "Upstream simulator, robot model, build, display and device requirements; inspect the selected source.",
  "execution_domain": "simulation-or-hardware",
  "source_imports": [
    "BipedalLocomotion/ParametersHandler/StdImplementation.h",
    "BipedalLocomotion/Planners/SwingFootPlanner.h",
    "BipedalLocomotion/Planners/UnicycleTrajectoryGenerator.h",
    "BipedalLocomotion/Planners/UnicycleTrajectoryPlanner.h",
    "BipedalLocomotion/System/Clock.h",
    "BipedalLocomotion/TextLogging/Logger.h",
    "FolderPath.h",
    "chrono",
    "iDynTree/Model.h",
    "iDynTree/ModelLoader.h",
    "matioCpp/matioCpp.h",
    "vector"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "Native main: examples/UnicycleTrajectoryGenerator/main.cpp; build the target declared by the pinned upstream build files",
  "notes": "Source reference only. Install the pinned upstream project and its stated dependencies explicitly. Robot bridges may actuate hardware; no hardware execution is established. Asset, model, SDK and data terms remain separate."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Fetched and SHA-256 checked this immutable source; statically parsed Python or located native main; verified pinned license bytes and checked explicit per-file license identifiers. No upstream code executed.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.