API Reference¶
Generated from docstrings in src/figaroh/ via
mkdocstrings. One page per top-level
subpackage:
| Module | Contains |
|---|---|
| Calibration | BaseCalibration, calibration tools, config, parameter, data loading |
| Identification | BaseIdentification, identification tools, config, parameter |
| Optimal | BaseOptimalCalibration, BaseOptimalTrajectory |
| Backends | DynamicsBackend interface + Pinocchio/MuJoCo implementations |
| Integration | RobotIdentificationSystem, the one-line workflow API |
| Data contract | TrajectoryData, PoseObservations, DataSource, Protocol (#55) |
| Measurements | Measurement data structures |
| Tools | Reporting/verification, provenance & run archiving, linear solver, robot management, regressor builder, visualization, collisions, QR decomposition, IPOPT wrapper, URDF export |
| Utils | Config parser, cubic spline, results manager, error handling, legacy-to-unified config migration |
| Visualisation | Plotting and viser-based visualization helpers |
The supported names, experimental areas and the deprecation policy are on Public API and stability.
New to the library? Start with Concepts for the architectural picture these modules fit into, or the Tutorials for a task-driven walkthrough.