Drake: trajectory optimization simulation

Official Drake native main example for trajectory optimization simulation. Inspect the pinned source and upstream setup before use.

drake-examples-pendulum-trajectory-optimization-simulation-cc | Record version: source-99bc4b2757c7fc044b77e403c0261a60764fc55c1d48024f7ea8e6c4f99b124f

Record JSON | Markdown | Pinned upstream source

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. Follow the upstream setup and invocation contract.

Source and license

Repository: https://github.com/RobotLocomotion/drake
Revision: 09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8
Path: examples/pendulum/trajectory_optimization_simulation.cc
Source SHA256: 99bc4b2757c7fc044b77e403c0261a60764fc55c1d48024f7ea8e6c4f99b124f
Original authors: See pinned upstream source and license notices.
License: BSD-3-Clause
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
Hub commit: 88022cc5fa2396f47b1f2354e988189dc8e53bea

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/is_approx_equal_abstol.h",
    "drake/examples/pendulum/pendulum_geometry.h",
    "drake/examples/pendulum/pendulum_plant.h",
    "drake/geometry/drake_visualizer.h",
    "drake/planning/trajectory_optimization/direct_collocation.h",
    "drake/solvers/solve.h",
    "drake/systems/analysis/simulator.h",
    "drake/systems/controllers/pid_controlled_system.h",
    "drake/systems/framework/diagram.h",
    "drake/systems/framework/diagram_builder.h",
    "drake/systems/primitives/trajectory_source.h",
    "gflags/gflags.h",
    "iostream",
    "memory",
    "utility"
  ]
}

Invocation

{
  "entrypoint": "Native main: examples/pendulum/trajectory_optimization_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."
}

Explicit compatibility

[]

Missing environment fields remain unknown. 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.