{
  "id": "drake-examples-allegro-hand-joint-control-allegro-single-object-simulation-cc",
  "name": "Drake: allegro single object simulation",
  "summary": "Official Drake native main example for allegro single object simulation. Inspect the pinned source and upstream setup before use.",
  "framework": "drake",
  "kind": "official_example",
  "source_registry": "ecosystem-examples-v1",
  "capabilities": [
    "dexterous-hand",
    "dynamics",
    "motion-planning",
    "simulation"
  ],
  "robot_types": [
    "dexterous-hand"
  ],
  "robot_scope": "Discovery labels inferred from this source path; inspect its robot configuration for compatibility. Project-wide categories are not a supported-robot list.",
  "source": {
    "repository": "https://github.com/RobotLocomotion/drake",
    "commit": "09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8",
    "tag": "v1.58.0",
    "path": "examples/allegro_hand/joint_control/allegro_single_object_simulation.cc",
    "url": "https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc",
    "raw_url": "https://raw.githubusercontent.com/RobotLocomotion/drake/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc",
    "sha256": "3af780643003fb5e54d33d445371805798da6c674f885415bd67f5ee2769b248",
    "bytes": 14593
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  "license": {
    "spdx": "BSD-3-Clause",
    "url": "https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/LICENSE.TXT",
    "sha256": "68a284dd034413ae0b9c36b269c64e25d3dcf74c9356e0698e184a58ac2fd9e3",
    "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."
  },
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.",
    "setup_url": "https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/README.md"
  },
  "requirements": {
    "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/drake_assert.h",
      "drake/examples/allegro_hand/allegro_common.h",
      "drake/examples/allegro_hand/allegro_lcm.h",
      "drake/geometry/proximity_properties.h",
      "drake/lcmt_allegro_command.hpp",
      "drake/lcmt_allegro_status.hpp",
      "drake/math/rotation_matrix.h",
      "drake/multibody/parsing/parser.h",
      "drake/multibody/plant/contact_results.h",
      "drake/multibody/plant/contact_results_to_lcm.h",
      "drake/multibody/plant/multibody_plant.h",
      "drake/multibody/tree/uniform_gravity_field_element.h",
      "drake/multibody/tree/weld_joint.h",
      "drake/systems/analysis/simulator.h",
      "drake/systems/analysis/simulator_gflags.h",
      "drake/systems/controllers/pid_controller.h",
      "drake/systems/framework/diagram.h",
      "drake/systems/framework/diagram_builder.h",
      "drake/systems/lcm/lcm_interface_system.h",
      "drake/systems/lcm/lcm_publisher_system.h",
      "drake/systems/lcm/lcm_subscriber_system.h",
      "drake/systems/primitives/matrix_gain.h",
      "drake/visualization/visualization_config_functions.h",
      "gflags/gflags.h",
      "limits",
      "memory",
      "string",
      "utility",
      "vector"
    ]
  },
  "invocation": {
    "entrypoint": "Native main: examples/allegro_hand/joint_control/allegro_single_object_simulation.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."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 4226,
    "checked_at": "2026-10-18",
    "meaning": "Dated repository interest, not robot-skill usage, compatibility or runtime success."
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-18",
    "inspection": "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.",
    "entrypoint_kind": "native_main",
    "inspection_method": "automated_static"
  }
}