# Drake: spong sim

Official Drake native main example for spong sim. Inspect the pinned source and upstream setup before use.

ID: `drake-examples-acrobot-spong-sim-cc`

Record version: `source-0b0fca5bd8d1807fe8127eb1d26df572267e0fc06db79cb4c6c24b24e4ff087a`

Hub commit: `3a81abb601c3b4b8fcb9a8bed5ca270e546f5f1a`

## Access

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

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

Upstream setup: https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/README.md

## Source and license

- Repository: https://github.com/RobotLocomotion/drake
- Pinned source: https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/examples/acrobot/spong_sim.cc
- Revision: `09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8`
- Path: `examples/acrobot/spong_sim.cc`
- Source SHA256: `0b0fca5bd8d1807fe8127eb1d26df572267e0fc06db79cb4c6c24b24e4ff087a`
- Source bytes: 4938
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/LICENSE.TXT)
- License scope: Selected example source code only; preserve upstream copyright and per-file notices. Robot models, datasets, weights, simulator binaries and third-party dependencies retain their separate licenses.

License SHA256: `68a284dd034413ae0b9c36b269c64e25d3dcf74c9356e0698e184a58ac2fd9e3`

## Requirements

```json
{
  "python": "Python/C++ versions supported by pinned Drake v1.58.0",
  "packages": [
    "Drake v1.58.0 / pydrake from the matching release",
    "Bazel/C++ toolchain for native examples and optional LCM/Meshcat components"
  ],
  "display": "Native examples require matching Bazel targets and model data; Python examples may need Meshcat/LCM. Some examples communicate over LCM; inspect configuration before hardware use.",
  "execution_domain": "simulation-or-hardware",
  "source_imports": [
    "drake/common/name_value.h",
    "drake/common/schema/stochastic.h",
    "drake/common/yaml/yaml_io.h",
    "drake/examples/acrobot/acrobot_plant.h",
    "drake/examples/acrobot/spong_controller.h",
    "drake/systems/analysis/simulator.h",
    "drake/systems/framework/diagram_builder.h",
    "drake/systems/primitives/vector_log_sink.h",
    "fstream",
    "gflags/gflags.h",
    "iostream"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "Native main: examples/acrobot/spong_sim.cc; build the target declared by the pinned upstream build files",
  "notes": "Native examples require matching Bazel targets and model data; Python examples may need Meshcat/LCM. Some examples communicate over LCM; inspect configuration before hardware use. No Hub preparation adapter or measured runtime success is claimed."
}
```

## 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.