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
Which module variant carries which feature, and what does an unsupported call raise?	Variants and features
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
What block size and launch does the merit kernel run at, and why?	Merit launch timing
How do I set an orientation target, a robust tracking term, a cost on any linear feature or a centre-of-mass target?	The cost menu
How do I move a tracking target every control step without re-applying the menu?	`update_cost_menu`
Which linear solver runs by default, and why the direct solve from 256 knots?	Consumer contract: linsys, the Orin sweep
What does the solver’s `converged` flag mean?	Consumer contract: what converged means, `gato.certificate`
Which integrator does a module run, and how do I get the RK4 step?	Consumer contract: the integrator is a module property, example 20
When does Gauss-Newton fall short, and what does the exact-Hessian path add?	`set_exact_hessian` and `set_cost_curvature`
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 rather than 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.