Skip to content
RobothecaBeta
Log in

FIGAROH-PLUS

  • Software
  • Robot arms and industry
  • Tool

A Python toolbox for geometric calibration and dynamic parameter identification of rigid multi-body robots and humans described by a URDF, from experiment design to model export.

Source on GitHub: github.com/thanhndv212/figaroh-plus (opens in a new tab). Facts read at commit dd51a81 (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit dd51a81 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Geometric calibration estimates joint offsets and frame transforms from end-effector measurements such as motion capture, cameras, laser trackers, or plane contact.
  • Dynamic identification fits masses, inertias, friction and actuator inertia from joint positions and measured effort, in up to three stages.
  • Optimal experiment design selects well-conditioned calibration postures and generates exciting identification trajectories optimised with IPOPT.
  • Each run can produce a self-contained HTML report and a machine-readable verification verdict, and compare two archived runs.
  • Calibration and identification results can be written back into a copy of the URDF, with physical-consistency checks on inertias.
  • Pinocchio is the default dynamics backend, with MuJoCo available as an optional backend.

Written by Robotheca from the project's README (opens in a new tab) at commit dd51a81.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Python 3.10 to 3.14 with Pinocchio 3.7 or 4.1 and ndcurves; tested on Linux (CI) and macOS, Windows not tested. The optimal trajectory generation additionally needs cyipopt, installed via the conda environment. No GPU or memory requirements are stated.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
13 Oct 2026 on main
Latest release
FIGAROH 1.0.2 (13 Oct 2026)

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.