MoveIt 2: kinematics cost function tutorial

Official MoveIt 2 native main example for kinematics cost function tutorial. Inspect the pinned source and upstream setup before use.

moveit2-doc-how-to-guides-kinematics-cost-function-src-kinematics-c-d6a2e2504453 | Record version: source-6450f27632d535d12d8ddfc50420545bd5e7b372b0ba567ed8b3e8d900cc5813

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/moveit/moveit2_tutorials
Revision: e1b3727d4bbd22a57f17120ec423a4171f4bdc66
Path: doc/how_to_guides/kinematics_cost_function/src/kinematics_cost_function_tutorial.cpp
Source SHA256: 6450f27632d535d12d8ddfc50420545bd5e7b372b0ba567ed8b3e8d900cc5813
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: fc64969d5899b2a89b72a8db8b0e99ad82f456540e133c30e30395013f89a443
Hub commit: 88022cc5fa2396f47b1f2354e988189dc8e53bea

Requirements

{
  "python": "ROS 2 Python/C++ versions matching the pinned upstream workspace",
  "packages": [
    "MoveIt 2 and moveit2_tutorials from the pinned ROS 2 source workspace"
  ],
  "display": "Requires a configured robot model, SRDF, controllers and sourced ROS workspace; many tutorials use RViz. Follow the pinned tutorial setup.",
  "execution_domain": "simulation-or-hardware",
  "source_imports": [
    "moveit/move_group_interface/move_group_interface.hpp",
    "moveit/planning_scene_interface/planning_scene_interface.hpp",
    "moveit/robot_state/cartesian_interpolator.hpp",
    "moveit/trajectory_processing/time_optimal_trajectory_generation.hpp",
    "moveit_msgs/msg/attached_collision_object.hpp",
    "moveit_msgs/msg/collision_object.hpp",
    "moveit_msgs/msg/display_robot_state.hpp",
    "moveit_msgs/msg/display_trajectory.hpp",
    "moveit_visual_tools/moveit_visual_tools.h",
    "tf2_eigen/tf2_eigen.hpp"
  ]
}

Invocation

{
  "entrypoint": "Native main: doc/how_to_guides/kinematics_cost_function/src/kinematics_cost_function_tutorial.cpp; build the target declared by the pinned upstream build files",
  "notes": "Requires a configured robot model, SRDF, controllers and sourced ROS workspace; many tutorials use RViz. Follow the pinned tutorial setup. 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.