{
  "id": "pinocchio-examples-inverse-dynamics-py",
  "name": "Pinocchio: inverse dynamics",
  "summary": "Official Pinocchio python script example for inverse dynamics. Inspect the pinned source and upstream setup before use.",
  "framework": "pinocchio",
  "kind": "official_example",
  "source_registry": "ecosystem-examples-v1",
  "capabilities": [
    "dynamics",
    "kinematics",
    "robot-model"
  ],
  "robot_types": [
    "source-defined"
  ],
  "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/stack-of-tasks/pinocchio",
    "commit": "2ae77666e894a39127b283dcce3e2399ec19242d",
    "tag": "v4.1.0",
    "path": "examples/inverse-dynamics.py",
    "url": "https://github.com/stack-of-tasks/pinocchio/blob/2ae77666e894a39127b283dcce3e2399ec19242d/examples/inverse-dynamics.py",
    "raw_url": "https://raw.githubusercontent.com/stack-of-tasks/pinocchio/2ae77666e894a39127b283dcce3e2399ec19242d/examples/inverse-dynamics.py",
    "sha256": "69899c2382b3d8fb7472b94a23d32b68dcaf5d58e9967d5659082067f9ef12c5",
    "bytes": 1247
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  "license": {
    "spdx": "BSD-2-Clause",
    "url": "https://github.com/stack-of-tasks/pinocchio/blob/2ae77666e894a39127b283dcce3e2399ec19242d/LICENSE",
    "sha256": "65b81e23a8e20d7c9d28239bbe9c9afc8d72dccd18833a4d443f0ed9e71738ce",
    "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/stack-of-tasks/pinocchio/blob/2ae77666e894a39127b283dcce3e2399ec19242d/README.md"
  },
  "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": [
      "numpy",
      "pathlib",
      "pinocchio"
    ]
  },
  "invocation": {
    "entrypoint": "python examples/inverse-dynamics.py",
    "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."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 3793,
    "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": "python_script",
    "inspection_method": "automated_static"
  }
}