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 - Unified configuration system with template inheritance - Advanced regressor computation with object-oriented design - Support for URDF modeling convention - Extensive examples and tutorials

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
• Identification
  • base_identification
  • identification_tools

Tools and Utilities:

• Tools
  • 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
  • BaseOptimalCalibration
  • BaseOptimalTrajectory
  • Submodules
  • figaroh.optimal.base_optimal_calibration module
  • figaroh.optimal.base_optimal_trajectory module

Indices and tables

• Index

• Module Index

• Search Page