# MoveIt 2: trajectory cache demo

Official MoveIt 2 native main example for trajectory cache demo. Inspect the pinned source and upstream setup before use.

ID: `moveit2-doc-how-to-guides-trajectory-cache-src-trajectory-cache-demo-cpp`

Record version: `source-59b5a242d3eb9f9ccd1d875c2af3499d2d26a99a3eed9fa2d496e298f98f7033`

Hub commit: `cbe459404040a145b32f2812b8b72ad93e97439c`

## 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**. Runtime verification: **not_run**.

Upstream setup: https://github.com/moveit/moveit2_tutorials/blob/e1b3727d4bbd22a57f17120ec423a4171f4bdc66/README.md

## Source and license

- Repository: https://github.com/moveit/moveit2_tutorials
- Pinned source: https://github.com/moveit/moveit2_tutorials/blob/e1b3727d4bbd22a57f17120ec423a4171f4bdc66/doc/how_to_guides/trajectory_cache/src/trajectory_cache_demo.cpp
- Revision: `e1b3727d4bbd22a57f17120ec423a4171f4bdc66`
- Path: `doc/how_to_guides/trajectory_cache/src/trajectory_cache_demo.cpp`
- Source SHA256: `59b5a242d3eb9f9ccd1d875c2af3499d2d26a99a3eed9fa2d496e298f98f7033`
- Source bytes: 56293
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/moveit/moveit2_tutorials/blob/e1b3727d4bbd22a57f17120ec423a4171f4bdc66/LICENSE.txt)
- 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`

## Requirements

```json
{
  "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": [
    "atomic",
    "moveit/move_group_interface/move_group_interface.h",
    "moveit/trajectory_cache/cache_insert_policies/cache_insert_policy_interface.hpp",
    "moveit/trajectory_cache/features/constant_features.hpp",
    "moveit/trajectory_cache/features/features_interface.hpp",
    "moveit/trajectory_cache/trajectory_cache.hpp",
    "moveit/trajectory_cache/utils/utils.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_msgs/msg/motion_plan_request.hpp",
    "moveit_msgs/msg/robot_trajectory.hpp",
    "moveit_msgs/srv/get_cartesian_path.hpp",
    "moveit_visual_tools/moveit_visual_tools.h",
    "optional",
    "random",
    "thread",
    "warehouse_ros/message_collection.h"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "Native main: doc/how_to_guides/trajectory_cache/src/trajectory_cache_demo.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."
}
```

## 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.