# Quickstart

Install FIGAROH, run a real calibration on a bundled robot, and read its report. About five minutes.

## 1. Install

```
pip install figaroh
```

Enough for calibration and identification. Trajectory design needs cyipopt, which installs from conda only.

```
git clone https://github.com/thanhndv212/figaroh-plus figaroh
cd figaroh
conda env create -f environment.yml
conda activate figaroh-dev
pip install -e .
```

Includes cyipopt for trajectory design and the tools to build these docs.

## 2. Get the examples

Robots, data and runnable scripts live in a separate repository:

```
git clone https://github.com/thanhndv212/figaroh-examples
cd figaroh-examples/examples/ur10
```

## 3. Run a calibration

```
python calibration.py --calibrate-only --no-plot
```

FIGAROH loads the UR10 URDF and 29 measured poses, fits joint offsets and link geometry, and prints a quality report: condition number, RMSE before and after, and outliers.

## 4. Read the result

| Output          | Where                                                    | What to look for                                           |
| --------------- | -------------------------------------------------------- | ---------------------------------------------------------- |
| Terminal report | your shell                                               | RMSE should drop; few or no outliers                       |
| Saved results   | `data/calibration/calibration_results_<timestamp>.npz`   | input for `--update-model`, which exports a corrected URDF |
| HTML report     | `results/calibration_report.html` (with `--html-report`) | residual plots and parameter table, shareable as one file  |

**Done when** the terminal shows post-calibration RMSE below the pre-calibration value.

## Where next

- **Calibrate your robot**

  ______________________________________________________________________

  Plan, design, configure, fit and verify, with the choices at each step.

  [Calibration guide](https://thanhndv212.github.io/figaroh-plus/workflows/calibration/index.md)

- **Identify dynamics**

  ______________________________________________________________________

  Masses, inertias and friction from motion and torque logs.

  [Identification guide](https://thanhndv212.github.io/figaroh-plus/workflows/identification/index.md)

- **Add your robot**

  ______________________________________________________________________

  Scaffold a folder with URDF, config and a tools subclass.

  [New-robot guide](https://thanhndv212.github.io/figaroh-plus/workflows/new-robot/index.md)

- **Use an AI agent**

  ______________________________________________________________________

  Let a coding agent set up and run the task with FIGAROH's skills.

  [Agent setup](https://thanhndv212.github.io/figaroh-plus/agents/index.md)