{
  "id": "moveit2-doc-how-to-guides-kinematics-cost-function-src-kinematics-c-d6a2e2504453",
  "name": "MoveIt 2: kinematics cost function tutorial",
  "summary": "Official MoveIt 2 native main example for kinematics cost function tutorial. Inspect the pinned source and upstream setup before use.",
  "framework": "moveit2",
  "kind": "official_example",
  "source_registry": "ecosystem-examples-v1",
  "capabilities": [
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    "manipulator",
    "motion-planning"
  ],
  "robot_types": [
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  ],
  "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/moveit/moveit2_tutorials",
    "commit": "e1b3727d4bbd22a57f17120ec423a4171f4bdc66",
    "tag": "main",
    "path": "doc/how_to_guides/kinematics_cost_function/src/kinematics_cost_function_tutorial.cpp",
    "url": "https://github.com/moveit/moveit2_tutorials/blob/e1b3727d4bbd22a57f17120ec423a4171f4bdc66/doc/how_to_guides/kinematics_cost_function/src/kinematics_cost_function_tutorial.cpp",
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  "license": {
    "spdx": "BSD-3-Clause",
    "url": "https://github.com/moveit/moveit2_tutorials/blob/e1b3727d4bbd22a57f17120ec423a4171f4bdc66/LICENSE.txt",
    "sha256": "fc64969d5899b2a89b72a8db8b0e99ad82f456540e133c30e30395013f89a443",
    "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/moveit/moveit2_tutorials/blob/e1b3727d4bbd22a57f17120ec423a4171f4bdc66/README.md"
  },
  "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."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 380,
    "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"
  }
}