Welcome to FIGAROH’s documentation!

FIGAROH (Free dynamics Identification and Geometrical cAlibration of RObot and Human) is a comprehensive Python toolbox for robot calibration and identification.

Key Features: - Dynamic parameter identification for rigid multi-body systems - Geometric calibration for serial and tree-structure robots - Advanced linear solver with 10 methods (lstsq, QR, SVD, Ridge, Lasso, Elastic Net, Tikhonov, constrained, robust, weighted) - Regularization and constraint optimization (L1/L2 regularization, box constraints, linear equality/inequality) - Unified configuration system with template inheritance - Advanced regressor computation with object-oriented design - Support for URDF modeling convention - Extensive examples and tutorials

What’s New in v0.3.0: - Advanced linear solver for robot parameter identification - Module reorganization for better maintainability - Enhanced BaseIdentification with flexible solver methods - Comprehensive test coverage with 18 unit tests

Quick Links: - PyPI Package - Examples Repository - GitHub Repository

Getting Started:

• Getting Started
  • Installation
  • Configuration System
  • Quick Start Examples
  • Next Steps

Core Modules:

• Calibration
  • base_calibration
  • calibration_tools
  • Configuration Management (New in v0.3.0)
  • Parameter Management (New in v0.3.0)
  • Data Loading (New in v0.3.0)
• Identification
  • base_identification
  • identification_tools
  • Configuration Management (New in v0.3.0)
  • Parameter Management (New in v0.3.0)

Tools and Utilities:

• Tools
  • Advanced Linear Solver (New in v0.3.0)
  • Robot Management
  • Enhanced Regressor Builder
  • Robot Visualization
  • Robot Collisions
  • QR Decomposition
  • Robot IPOPT
  • Random Data Generation
• Utilities
  • Configuration Parser
  • Cubic Spline
  • Results Manager
  • Error Handling
• Measurements
  • measurement
• Visualisation
  • Visualizer

Advanced Features:

• figaroh.optimal package
  • Submodules
  • figaroh.optimal.base_optimal_calibration module
  • figaroh.optimal.base_optimal_trajectory module

Indices and tables

• Index

• Module Index

• Search Page