# moveit_task_constructor: ik clearance cost

Official moveit_task_constructor native main example for ik clearance cost. Inspect the pinned source and upstream setup before use.

ID: `moveit-task-constructor-demo-src-ik-clearance-cost-cpp`

Record version: `source-d6e6571599c5238a72f3dc078230f1bc83942dc23cd8c8f14b44702d3621cb43`

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 moveit-task-constructor-demo-src-ik-clearance-cost-cpp --expected-source-revision f527048b3db1574f68f5c646e9ed7099085af5c8 --expected-source-sha256 d6e6571599c5238a72f3dc078230f1bc83942dc23cd8c8f14b44702d3621cb43 --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/moveit/moveit_task_constructor/blob/f527048b3db1574f68f5c646e9ed7099085af5c8/README.md

## Source and license

- Repository: https://github.com/moveit/moveit_task_constructor
- Pinned source: https://github.com/moveit/moveit_task_constructor/blob/f527048b3db1574f68f5c646e9ed7099085af5c8/demo/src/ik_clearance_cost.cpp
- Revision: `f527048b3db1574f68f5c646e9ed7099085af5c8`
- Path: `demo/src/ik_clearance_cost.cpp`
- Source SHA256: `d6e6571599c5238a72f3dc078230f1bc83942dc23cd8c8f14b44702d3621cb43`
- Source bytes: 2526
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/moveit/moveit_task_constructor/blob/f527048b3db1574f68f5c646e9ed7099085af5c8/LICENSE.txt)
- License scope: Repository-root code terms only; file headers, third-party code, models, weights, assets and datasets require separate review.

License SHA256: `245d69c11f55b9878977efe233ec091258ee0210933a4a828fabf42314ce27de`

## 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": [
    "moveit/planning_scene/planning_scene.hpp",
    "moveit/task_constructor/cost_terms.h",
    "moveit/task_constructor/stages/compute_ik.h",
    "moveit/task_constructor/stages/fixed_state.h",
    "moveit/task_constructor/task.h",
    "moveit_task_constructor_demo/ik_clearance_cost_parameters.hpp",
    "rclcpp/rclcpp.hpp"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "Native main: demo/src/ik_clearance_cost.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.