# FIGAROH

> A Python toolbox for dynamic parameter identification and geometric calibration of robots and humans.

FIGAROH is a Python toolbox for geometric calibration, dynamic parameter identification and optimal experiment design of robots. Runnable robot examples live in the figaroh-examples repository. Agent skills ship in the figaroh repository under skills/.

## Start

- [Quickstart](https://thanhndv212.github.io/figaroh-plus/start/quickstart/index.md)
- [Installation](https://thanhndv212.github.io/figaroh-plus/getting_started/index.md)

## Workflows

- [Overview](https://thanhndv212.github.io/figaroh-plus/workflows/index.md)
- [Calibrate a robot](https://thanhndv212.github.io/figaroh-plus/workflows/calibration/index.md)
- [Identify dynamics](https://thanhndv212.github.io/figaroh-plus/workflows/identification/index.md)
- [Add your robot](https://thanhndv212.github.io/figaroh-plus/workflows/new-robot/index.md)
- [Plan, fit & verify](https://thanhndv212.github.io/figaroh-plus/example_workflow/index.md)
- [Reports & verdicts](https://thanhndv212.github.io/figaroh-plus/reporting_and_verification/index.md)
- [Overview](https://thanhndv212.github.io/figaroh-plus/tutorials/index.md)
- [Calibration: choosing what to estimate](https://thanhndv212.github.io/figaroh-plus/tutorials/calibration_estimation_guide/index.md)
- [Calibration walkthrough](https://thanhndv212.github.io/figaroh-plus/tutorials/calibration_walkthrough/index.md)
- [Identification walkthrough](https://thanhndv212.github.io/figaroh-plus/tutorials/identification_walkthrough/index.md)
- [Experiment design](https://thanhndv212.github.io/figaroh-plus/tutorials/optimal_design/index.md)

## AI agents

- [Overview](https://thanhndv212.github.io/figaroh-plus/agents/index.md)
- [Skills](https://thanhndv212.github.io/figaroh-plus/agents/skills/index.md)

## Concepts

- [Architecture](https://thanhndv212.github.io/figaroh-plus/concepts/architecture/index.md)
- [Backends](https://thanhndv212.github.io/figaroh-plus/concepts/backends/index.md)
- [Calibration estimation methods](https://thanhndv212.github.io/figaroh-plus/concepts/calibration_estimation/index.md)
- [Config keys](https://thanhndv212.github.io/figaroh-plus/concepts/config_parameters/index.md)
- [Configuration system](https://thanhndv212.github.io/figaroh-plus/concepts/configuration/index.md)
- [Integration API](https://thanhndv212.github.io/figaroh-plus/concepts/integration/index.md)

## Examples

- [Overview](https://thanhndv212.github.io/figaroh-plus/examples/index.md)
- [Stäubli TX40](https://thanhndv212.github.io/figaroh-plus/examples/staubli_tx40/index.md)
- [TALOS](https://thanhndv212.github.io/figaroh-plus/examples/talos/index.md)
- [Config templates](https://thanhndv212.github.io/figaroh-plus/examples/templates/index.md)
- [TIAGo](https://thanhndv212.github.io/figaroh-plus/examples/tiago/index.md)
- [UR10](https://thanhndv212.github.io/figaroh-plus/examples/ur10/index.md)

## API reference

- [Overview](https://thanhndv212.github.io/figaroh-plus/api/index.md)
- [Backends](https://thanhndv212.github.io/figaroh-plus/api/backends/index.md)
- [Calibration](https://thanhndv212.github.io/figaroh-plus/api/calibration/index.md)
- [Data contract](https://thanhndv212.github.io/figaroh-plus/api/data/index.md)
- [Identification](https://thanhndv212.github.io/figaroh-plus/api/identification/index.md)
- [Integration](https://thanhndv212.github.io/figaroh-plus/api/integration/index.md)
- [Measurements](https://thanhndv212.github.io/figaroh-plus/api/measurements/index.md)
- [Optimal](https://thanhndv212.github.io/figaroh-plus/api/optimal/index.md)
- [Public API and stability](https://thanhndv212.github.io/figaroh-plus/api/stability/index.md)
- [Tools](https://thanhndv212.github.io/figaroh-plus/api/tools/index.md)
- [Utils](https://thanhndv212.github.io/figaroh-plus/api/utils/index.md)
- [Visualisation](https://thanhndv212.github.io/figaroh-plus/api/visualisation/index.md)

## Project

- [Changelog](https://thanhndv212.github.io/figaroh-plus/further_reading/changelog/index.md)
- [Contributing](https://thanhndv212.github.io/figaroh-plus/further_reading/contributing/index.md)
- [Design decisions](https://thanhndv212.github.io/figaroh-plus/further_reading/decisions/index.md)
- [FAQ](https://thanhndv212.github.io/figaroh-plus/further_reading/faq/index.md)
- [Delivery plans](https://thanhndv212.github.io/figaroh-plus/further_reading/plans/index.md)
- [Roadmap](https://thanhndv212.github.io/figaroh-plus/further_reading/roadmap/index.md)