# Drake: hardware sim

Official Drake python main example for hardware sim. Inspect the pinned source and upstream setup before use.

ID: `drake-examples-hardware-sim-hardware-sim-py`

Record version: `source-0278ec60af6deeaca47aaaf53b580b145d928ba79cf0380dfd6f2e2aca1cee64`

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/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/README.md

## Source and license

- Repository: https://github.com/RobotLocomotion/drake
- Pinned source: https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/examples/hardware_sim/hardware_sim.py
- Revision: `09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8`
- Path: `examples/hardware_sim/hardware_sim.py`
- Source SHA256: `0278ec60af6deeaca47aaaf53b580b145d928ba79cf0380dfd6f2e2aca1cee64`
- Source bytes: 8224
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/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: `68a284dd034413ae0b9c36b269c64e25d3dcf74c9356e0698e184a58ac2fd9e3`

## Requirements

```json
{
  "python": "Python/C++ versions supported by pinned Drake v1.58.0",
  "packages": [
    "Drake v1.58.0 / pydrake from the matching release",
    "Bazel/C++ toolchain for native examples and optional LCM/Meshcat components"
  ],
  "display": "Native examples require matching Bazel targets and model data; Python examples may need Meshcat/LCM. Some examples communicate over LCM; inspect configuration before hardware use.",
  "execution_domain": "simulation-or-hardware",
  "source_imports": [
    "argparse",
    "dataclasses",
    "math",
    "numpy",
    "pydrake.common",
    "pydrake.common.yaml",
    "pydrake.geometry",
    "pydrake.lcm",
    "pydrake.manipulation",
    "pydrake.multibody.parsing",
    "pydrake.multibody.plant",
    "pydrake.systems.analysis",
    "pydrake.systems.framework",
    "pydrake.systems.lcm",
    "pydrake.systems.sensors",
    "pydrake.visualization",
    "typing"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "python examples/hardware_sim/hardware_sim.py",
  "notes": "Native examples require matching Bazel targets and model data; Python examples may need Meshcat/LCM. Some examples communicate over LCM; inspect configuration before hardware use. 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.