# Pinocchio: autodiff rnea

Official Pinocchio native main example for autodiff rnea. Inspect the pinned source and upstream setup before use.

ID: `pinocchio-examples-cppad-autodiff-rnea-cpp`

Record version: `source-5cb3fca8a787189d682811c3fc260e815a0ff48295e57aaeceb7fca79b4a5258`

Hub commit: `3a81abb601c3b4b8fcb9a8bed5ca270e546f5f1a`

## 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/stack-of-tasks/pinocchio/blob/2ae77666e894a39127b283dcce3e2399ec19242d/README.md

## Source and license

- Repository: https://github.com/stack-of-tasks/pinocchio
- Pinned source: https://github.com/stack-of-tasks/pinocchio/blob/2ae77666e894a39127b283dcce3e2399ec19242d/examples/cppad/autodiff-rnea.cpp
- Revision: `2ae77666e894a39127b283dcce3e2399ec19242d`
- Path: `examples/cppad/autodiff-rnea.cpp`
- Source SHA256: `5cb3fca8a787189d682811c3fc260e815a0ff48295e57aaeceb7fca79b4a5258`
- Source bytes: 2838
- Original authors: See pinned upstream source and license notices.
- License: [BSD-2-Clause](https://github.com/stack-of-tasks/pinocchio/blob/2ae77666e894a39127b283dcce3e2399ec19242d/LICENSE)
- 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: `65b81e23a8e20d7c9d28239bbe9c9afc8d72dccd18833a4d443f0ed9e71738ce`

## Requirements

```json
{
  "python": "Python/C++ versions and optional bindings from pinned Pinocchio v4.1.0",
  "packages": [
    "Pinocchio v4.1.0 pinned source",
    "example-robot-data, collision/viewer/autodiff extras as imported by the selected example"
  ],
  "display": "Install only the selected example optional dependencies. URDF/mesh assets, CasADi/CppAD, Meshcat, Gepetto, RViz or other viewers may be needed; inspect imports and source.",
  "execution_domain": "computation-or-simulation",
  "source_imports": [
    "Eigen/Core",
    "Eigen/Geometry",
    "boost/core/ref.hpp",
    "boost/fusion/algorithm.hpp",
    "boost/fusion/functional.hpp",
    "boost/variant.hpp",
    "cppad/cppad.hpp",
    "iostream",
    "pinocchio/algorithm/check.hpp",
    "pinocchio/algorithm/joint-configuration.hpp",
    "pinocchio/algorithm/rnea-derivatives.hpp",
    "pinocchio/algorithm/rnea.hpp",
    "pinocchio/autodiff/cppad.hpp",
    "pinocchio/eigen-common.hpp",
    "pinocchio/math.hpp",
    "pinocchio/multibody.hpp",
    "pinocchio/multibody/joint.hpp",
    "pinocchio/multibody/sample-models.hpp",
    "pinocchio/spatial.hpp",
    "pinocchio/utils/cast.hpp",
    "pinocchio/utils/check.hpp",
    "pinocchio/utils/static-if.hpp"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "Native main: examples/cppad/autodiff-rnea.cpp; build the target declared by the pinned upstream build files",
  "notes": "Install only the selected example optional dependencies. URDF/mesh assets, CasADi/CppAD, Meshcat, Gepetto, RViz or other viewers may be needed; inspect imports and source. 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.