Add your robot

Give your robot a folder in figaroh-examples with a URDF, a config and a tools subclass, so the calibration and identification guides work for it.

Only do this when figaroh-examples/examples/ has no folder for your robot yet. Otherwise go straight to Calibrate a robot or Identify dynamics.

Which example to copy from

UR10 Fixed-base armsTIAGo / TALOS

examples/ur10/ with templates/manipulator_robot.yaml. It is the most complete reference: calibration, identification, both design scripts and verification flags. Use it for UR, KUKA, Stäubli and similar arms.

examples/tiago/ or examples/talos/ with templates/humanoid_robot.yaml. Use them for mobile manipulators, humanoids, floating bases and coupled wrists.

1. Place the description package

If your URDF references meshes with package://<robot>_description/..., put that package at figaroh-examples/models/<robot>_description/. Add to models/; do not edit what is already there. Skip this if the URDF has no mesh references.

2. Scaffold the folder

cd figaroh-examples/examples
./create_example.sh my_robot

This creates examples/my_robot/ with config/, data/, urdf/, utils/ and docs/. The generated config/my_robot_unified_config.yaml is a real config with TODO markers; edit it in place. The four generated scripts (calibration.py, identification.py, optimal_config.py, optimal_trajectory.py) are placeholders that point to their UR10 counterparts.

3. Add the URDF and prove it loads

Put the file at examples/my_robot/urdf/my_robot.urdf, then print its joints and frames:

cd figaroh-examples/examples/my_robot
python -c "
from figaroh.tools.robot import load_robot
r = load_robot('urdf/my_robot.urdf', package_dirs='../../models', load_by_urdf=True)
print('joints', list(r.model.names))
print('frames', [f.name for f in r.model.frames][:40])
"

Copy names from this output. They are the exact strings your config's active_joints, your CSV headers, and base_frame / tool_frame must use.

4. Fill in the config

extends: "../../templates/manipulator_robot.yaml"   # or humanoid_robot.yaml
robot:
  name: "my_robot"
  properties:
    joints:
      active_joints: ["joint_1", "joint_2"]   # exact names from step 3
      joint_limits:
        position: [...]       # rad, min/max per joint, flattened
        velocity: [...]       # rad/s
        acceleration: [...]   # rad/s²
        torque: [...]         # N·m
tasks:
  calibration:    { enabled: true }
  identification: { enabled: true }

• Use extends:. The key inherit_from is not read.
• Robot-wide facts go under robot.properties, task settings under tasks.<task>. Task settings placed under robot.properties are silently ignored.
• Enable only the tasks you have scripts for.

5. Write the tools subclass and scripts

Replace utils/my_robot_tools.py with a copy of examples/ur10/utils/ur10_tools.py and adapt it:

Task	Base class	You implement
Calibration	BaseCalibration	data and marker handling for your sensor
Identification	BaseIdentification	load_trajectory_data()
Design	BaseOptimalCalibration, BaseOptimalTrajectory	your constraints

Then copy the entry scripts from examples/ur10/ and change the class import, the --config and --urdf defaults, and the data paths. Keep the command-line flags the same as UR10's so validate.py can drive your robot.

6. Add data and run

Put your CSVs under data/ and follow the Configure step of the calibration or identification guide.

Done when python validate.py --robot my_robot exits 0 from the figaroh-examples root, and a run archive appears under examples/my_robot/results/runs/.

Let your agent do it

The figaroh-setup-new-robot skill walks a coding agent through these steps, including registering the robot in validate.py. See AI agents.