Workflows

Calibration and identification follow the same five steps. Each guide explains the choices you make at every step and how you know it worked.

Step	You decide	You check
1. Plan	What to estimate and which data you have	You have a separate validation set
2. Design	Which postures or trajectories to record	The design is well conditioned
3. Configure	Which template to extend and which keys to override	The config loads and matches your data
4. Fit	Which estimator to run	Conditioning, residuals and parameter values
5. Verify	Which limits your application needs	verify() passes on held-out data

• Calibrate a robot

  ---

  Joint offsets, link geometry, base and tool frames from measured poses. Covers the five estimation methods and when to use each.

  Calibration guide

• Identify dynamics

  ---

  Base parameters, friction and actuator inertia from motion and torque. Covers filtering, estimators and reconstruction.

  Identification guide

• Add your robot

  ---

  Scaffold a robot folder before either guide applies to your hardware.

  New-robot guide

• Reports & verdicts

  ---

  The HTML report, the JSON verdict and the two-run compare page.

  Reporting & verification

For a single narrative walkthrough on TIAGo, read the tutorials. For a full plan-to-verdict example in code, read Plan, fit & verify.