{
  "id": "ompl-demos-multilevel-multilevelplanarmanipulatordemo-cpp",
  "name": "OMPL: Multi Level Planar Manipulator Demo",
  "summary": "Official OMPL native main example for Multi Level Planar Manipulator Demo. Inspect the pinned source and upstream setup before use.",
  "framework": "ompl",
  "kind": "official_example",
  "source_registry": "ecosystem-examples-v1",
  "capabilities": [
    "collision",
    "motion-planning",
    "planning-algorithm"
  ],
  "robot_types": [
    "arm"
  ],
  "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/ompl/ompl",
    "commit": "1ae6ac0bf7e9cb67d8994a8b8742833f813fdd39",
    "tag": "2.0.2",
    "path": "demos/multilevel/MultiLevelPlanarManipulatorDemo.cpp",
    "url": "https://github.com/ompl/ompl/blob/1ae6ac0bf7e9cb67d8994a8b8742833f813fdd39/demos/multilevel/MultiLevelPlanarManipulatorDemo.cpp",
    "raw_url": "https://raw.githubusercontent.com/ompl/ompl/1ae6ac0bf7e9cb67d8994a8b8742833f813fdd39/demos/multilevel/MultiLevelPlanarManipulatorDemo.cpp",
    "sha256": "4b25b737f8ccbbfeb3082e5d7cdfece7232bff5c6edc6f4631fe6052e2d29230",
    "bytes": 10523
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  "license": {
    "spdx": "BSD-3-Clause",
    "url": "https://github.com/ompl/ompl/blob/1ae6ac0bf7e9cb67d8994a8b8742833f813fdd39/LICENSE",
    "sha256": "f1b0b41dbea7d46f34a723e827b5ef50070d006b34d5463f77a0a06d3dccdf2d",
    "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/ompl/ompl/blob/1ae6ac0bf7e9cb67d8994a8b8742833f813fdd39/README.md"
  },
  "requirements": {
    "python": "Python/C++ toolchain compatible with pinned OMPL 2.0.2",
    "packages": [
      "OMPL 2.0.2 pinned source",
      "CMake/compiler and optional Python bindings/dependencies per selected demo"
    ],
    "display": "Build the selected native demo target or install matching Python bindings. Planning demos need their state-space/validity assumptions and optional meshes/data; a solution path is not automatically a controller.",
    "execution_domain": "computation-or-simulation",
    "source_imports": [
      "../PlanarManipulator/PlanarManipulator.h",
      "../PlanarManipulator/PlanarManipulatorIKGoal.h",
      "../PlanarManipulator/PlanarManipulatorPolyWorld.h",
      "../PlanarManipulator/PlanarManipulatorStateSpace.h",
      "../PlanarManipulator/PlanarManipulatorStateValidityChecker.h",
      "../PlanarManipulator/PolyWorld.h",
      "MultiLevelPlanarManipulatorCommon.h",
      "boost/math/constants/constants.hpp",
      "boost/program_options.hpp",
      "fstream",
      "ompl/base/spaces/RealVectorStateSpace.h",
      "ompl/base/spaces/SE2StateSpace.h",
      "ompl/geometric/planners/rrt/RRT.h",
      "ompl/geometric/planners/rrt/RRTConnect.h",
      "ompl/multilevel/datastructures/Projection.h",
      "ompl/multilevel/datastructures/projections/SE2_R2.h",
      "ompl/multilevel/planners/qmp/QMP.h",
      "ompl/multilevel/planners/qrrt/QRRT.h"
    ]
  },
  "invocation": {
    "entrypoint": "Native main: demos/multilevel/MultiLevelPlanarManipulatorDemo.cpp; build the target declared by the pinned upstream build files",
    "notes": "Build the selected native demo target or install matching Python bindings. Planning demos need their state-space/validity assumptions and optional meshes/data; a solution path is not automatically a controller. No Hub preparation adapter or measured runtime success is claimed."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 2178,
    "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"
  }
}