# crocoddyl: double pendulum invdyn

Official crocoddyl python script example for double pendulum invdyn. Inspect the pinned source and upstream setup before use.

ID: `crocoddyl-examples-double-pendulum-invdyn-py`

Record version: `source-68162631e779d7134c1f69510f6737d65b46318d840fd8888ff1894fa4d7eb71`

Hub commit: `f97266a5cdd2c600cd376397a54892f08290df20`

## Access

Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source crocoddyl-examples-double-pendulum-invdyn-py --expected-source-revision babab496116e883960a9203df8fbac25a05116ee --expected-source-sha256 68162631e779d7134c1f69510f6737d65b46318d840fd8888ff1894fa4d7eb71 --project ./experiment --json`. This verifies one file, preserves provenance and never installs or runs it. See [source-file retrieval](https://hub.superfastrobotics.com/source-files.md).

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/loco-3d/crocoddyl/blob/babab496116e883960a9203df8fbac25a05116ee/README.md

## Source and license

- Repository: https://github.com/loco-3d/crocoddyl
- Pinned source: https://github.com/loco-3d/crocoddyl/blob/babab496116e883960a9203df8fbac25a05116ee/examples/double_pendulum_invdyn.py
- Revision: `babab496116e883960a9203df8fbac25a05116ee`
- Path: `examples/double_pendulum_invdyn.py`
- Source SHA256: `68162631e779d7134c1f69510f6737d65b46318d840fd8888ff1894fa4d7eb71`
- Source bytes: 5216
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/loco-3d/crocoddyl/blob/babab496116e883960a9203df8fbac25a05116ee/LICENSE)
- License scope: Repository-root code terms only; file headers, third-party code, models, weights, assets and datasets require separate review.

License SHA256: `3b1ee503de76b2218f779f50523e71821232102b4a15cf51a30e28ec996cfcb8`

## Requirements

```json
{
  "python": "Inspect the pinned upstream package metadata for the supported Python version.",
  "packages": [],
  "display": "Upstream simulator, robot model, build, display and device requirements; inspect the selected source.",
  "execution_domain": "simulation-or-hardware",
  "source_imports": [
    "crocoddyl",
    "crocoddyl.utils.pendulum",
    "example_robot_data",
    "gepetto",
    "numpy",
    "odyn.utils",
    "os",
    "signal",
    "sys",
    "time"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "python examples/double_pendulum_invdyn.py",
  "notes": "Source reference only. Install the pinned upstream project and its stated dependencies explicitly. Robot bridges may actuate hardware; no hardware execution is established. Asset, model, SDK and data terms remain separate."
}
```

## 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.