TALOS

Humanoid robot (PAL Robotics TALOS) — kinematic calibration of the torso/arm chain. → source folder

What's included

• calibration_upperbody.py — all-in-one entry point: calibration, URDF export, and visual validation, selected by flag
• update_model.py — thin shim delegating to calibration_upperbody.py --update-model
• utils/talos_tools.py — TALOSCalibration, a figaroh.calibration.base_calibration.BaseCalibration specialization for TALOS's torso/arm kinematic chain
• config/talos_unified_config.yaml — extends humanoid_robot.yaml

Run

cd examples/talos

python calibration_upperbody.py                # full pipeline
python calibration_upperbody.py --calibrate-only
python calibration_upperbody.py --update-model
python calibration_upperbody.py --viz-validation
python calibration_upperbody.py --interactive

Outputs

results/calibration_report.html; timestamped calibration results under data/calibration_results_*.npz and modified URDFs under urdf/.

See also

• Calibration Walkthrough
• Full README: figaroh-examples/examples/talos/README.md