GATO documentation

These pages are also published as the reference tier of the project site, https://a2r-lab.org/GATO/docs/, with the API reference and the current receipt.

Start with the quick start, then run the numbered examples. Build only the module needed by your example; the full receipt profile is for validation and research.

Question	Reference
What works, and what is experimental?	Feature status and limitations; API stability
How do I use the Python API or migrate old code?	Consumer contract and migration notes
How do I add limits, cones, collision or foot rows?	Constraint mechanisms and conventions
How do I install from a wheel and use my own URDF?	register_robot and the per-host cache, example 05
How do I use torch or JAX arrays?	Array kinds
How do I use the solver from C++/CUDA?	C++/CUDA interface, examples/cpp
How do I add a robot or read the dynamics layer?	Dynamics adapter
How do I build, test, sign a receipt or time a change?	Development and validation
Which results reproduce the paper?	Figure protocols, provenance and caveats
What do the current-code figures show?	Figure refresh, October 2026
How is the project page updated?	Website
Where did historical datasets come from?	Dated archaeology — history, not current API guidance

The project website presents the published experiments and the latest current-code results, each labeled. It is not a live benchmark dashboard. A green correctness receipt does not certify runtime speed, arbitrary robot models or safety on physical hardware.