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Skills

Each skill is a Markdown file under figaroh/skills/ that tells an agent how to do one job, which files to touch and how to know it worked.

figaroh-start is the entry point. It maps the two repositories and hands the task to one of the setup skills.

Skill Use it when It ends with
figaroh-start Any FIGAROH request. Routes to the skills below. The right skill loaded, with the robot folder and task named
figaroh-setup-env A fresh machine, import figaroh fails, cyipopt or picos is missing, meshes do not load, or library edits have no effect doctor.sh passes and the UR10 example runs
figaroh-setup-calibration Correcting joint offsets and frame transforms from measured poses A calibration run, an HTML report and a verdict
figaroh-setup-identification Fitting masses, inertias, friction and actuator inertia from q/τ logs An identification run with held-out torque error per joint
figaroh-setup-optimal Badly conditioned results, or before collecting data on a new robot Designed postures or an exciting trajectory, with its condition number
figaroh-setup-new-robot A robot with no folder under figaroh-examples/examples/ A scaffolded robot folder that validate.py --robot <robot> runs

How routing works

you ──► figaroh-start ─┬─► figaroh-setup-env            (always first on a new machine)
                       ├─► figaroh-setup-calibration
                       ├─► figaroh-setup-identification
                       ├─► figaroh-setup-optimal
                       └─► figaroh-setup-new-robot ──► calibration / identification

The skills follow the same five steps as the workflow guides: Plan, Design, Configure, Fit, Verify. If the agent proposes something the guides warn against, such as validating on a split of the training file, point it at the relevant step.

Read a skill

The skills are plain Markdown. Reading the one your agent loaded shows you what it will do: