Pinocchio: inverse dynamics

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

pinocchio-examples-inverse-dynamics-cpp | Record version: source-220989aeb7e02e0c14b114e122cbf8ff0cc5f043f15eeb1e9213d0e418725d9a

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/stack-of-tasks/pinocchio
Revision: 2ae77666e894a39127b283dcce3e2399ec19242d
Path: examples/inverse-dynamics.cpp
Source SHA256: 220989aeb7e02e0c14b114e122cbf8ff0cc5f043f15eeb1e9213d0e418725d9a
Original authors: See pinned upstream source and license notices.
License: BSD-2-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: 65b81e23a8e20d7c9d28239bbe9c9afc8d72dccd18833a4d443f0ed9e71738ce
Hub commit: 88022cc5fa2396f47b1f2354e988189dc8e53bea

Requirements

{
  "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",
    "boost/core/ref.hpp",
    "boost/fusion/algorithm.hpp",
    "boost/fusion/functional.hpp",
    "boost/variant.hpp",
    "iostream",
    "pinocchio/algorithm/check-data.hpp",
    "pinocchio/algorithm/joint-configuration.hpp",
    "pinocchio/algorithm/rnea.hpp",
    "pinocchio/eigen-common.hpp",
    "pinocchio/math.hpp",
    "pinocchio/multibody.hpp",
    "pinocchio/multibody/joint.hpp",
    "pinocchio/parsers/urdf.hpp",
    "pinocchio/spatial.hpp",
    "pinocchio/utils/check.hpp",
    "string"
  ]
}

Invocation

{
  "entrypoint": "Native main: examples/inverse-dynamics.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."
}

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.