# tsid: ex 4 walking

Official tsid python script example for ex 4 walking. Inspect the pinned source and upstream setup before use.

ID: `tsid-exercizes-ex-4-walking-py`

Record version: `source-5dca2989192e7a7f18ec44d921788a9bdc99758a4757fc534df44d199b1551fa`

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 tsid-exercizes-ex-4-walking-py --expected-source-revision 25762a26464d10f6a2b1becc87f6e9a13c24c44b --expected-source-sha256 5dca2989192e7a7f18ec44d921788a9bdc99758a4757fc534df44d199b1551fa --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/stack-of-tasks/tsid/blob/25762a26464d10f6a2b1becc87f6e9a13c24c44b/README.md

## Source and license

- Repository: https://github.com/stack-of-tasks/tsid
- Pinned source: https://github.com/stack-of-tasks/tsid/blob/25762a26464d10f6a2b1becc87f6e9a13c24c44b/exercizes/ex_4_walking.py
- Revision: `25762a26464d10f6a2b1becc87f6e9a13c24c44b`
- Path: `exercizes/ex_4_walking.py`
- Source SHA256: `5dca2989192e7a7f18ec44d921788a9bdc99758a4757fc534df44d199b1551fa`
- Source bytes: 13245
- Original authors: See pinned upstream source and license notices.
- License: [BSD-2-Clause](https://github.com/stack-of-tasks/tsid/blob/25762a26464d10f6a2b1becc87f6e9a13c24c44b/LICENSE)
- License scope: Repository-root code terms only; file headers, third-party code, models, weights, assets and datasets require separate review.

License SHA256: `ad5f508370b197e6ab8524af924c89c253ed67bba906bbbcfa9bc49f24d5b9fe`

## 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": [
    "ex_4_conf",
    "matplotlib.pyplot",
    "numpy",
    "numpy.linalg",
    "plot_utils",
    "time",
    "tsid",
    "tsid_biped"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "python exercizes/ex_4_walking.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.