Component Catalog¶

A reference of every shinro component, its registered name (the type string used in TOML configs and by the factories/registry), its source file, and its bundled config. Registered names are the contract — config files and the factories dispatch on them.

How to read: the registered name is what you put in a type = "..." TOML field or pass to a factory. The class is the Python class behind it. Several registered names may map to the same class (e.g. MPC_LTI and MPC_DeltaU are two registration names of the same MPC_LTI_DeltaU class).

Controllers¶

Registered via register_controller; created with ControllerFactory. All implement compute(current, target) and reset().

Registered name	Class	File	Config
`LQR`	`LQR`	`controllers/lqr.py`	`configs/controllers/lqr_base.toml`
`PID`	`PIDController`	`controllers/pid.py`	`configs/controllers/pid_arm.toml`
`MPC_LTI`	`MPC_LTI_Base`	`controllers/mpc_lti.py`	`configs/controllers/mpc_lti_base.toml`
`MPC_DeltaU`	`MPC_LTI_DeltaU`	`controllers/mpc_lti.py`	`configs/controllers/mpc_base.toml`
`MPPI`	`MPPIController`	`controllers/mppi.py`	`configs/controllers/mppi_base.toml`, `mppi.toml`
`SMC`	`SlidingModeController`	`controllers/smc.py`	`configs/controllers/smc.toml`
`onnx_rl`	`OnnxRLAdapter`	`controllers/onnx_rl_adapter.py`	`configs/controllers/onnx_rl.toml`
`lerobot_diffusion`	`LeRobotDiffusionAdapter`	`controllers/lerobot_adapter.py`	`configs/controllers/lerobot_diffusion.toml`

MPC_LTI and MPC_DeltaU are both built on MPC_LTI in mpc_lti.py: MPC_DeltaU adds Δu (control-rate) regularization. The two names are distinct registrations, not aliases.

Plants¶

Registered via register_plant; created with PlantFactory. All implement get_state(), get_model(), and step(u). Plants that support linearization set input_dim and expose dynamics(x, u) (see docs/how-it-works.md and utils/linearization.py).

Registered name	Class	File	Config
`ArmRobot`	`ArmRobot`	`plants/armrobot.py`	`configs/plants/armrobot.toml`
`HolonomicMobileRobot`	`HolonomicMobileRobot`	`plants/holonomicmobilerobot.py`	`configs/plants/holonomic_base.toml`
`InvertedPendulum`	`InvertedPendulum`	`plants/inverted_pendulum.py`	`configs/plants/inverted_pendulum.toml`
`CartPole`	`CartPole`	`plants/cartpole.py`	`configs/plants/cartpole.toml`
`DoublePendulum`	`DoublePendulum`	`plants/double_pendulum.py`	`configs/plants/double_pendulum.toml`
`Quadrotor`	`Quadrotor`	`plants/quadrotor.py`	`configs/plants/quadrotor.toml` (placeholder)

cartpole.toml and inverted_pendulum.toml are parameter-only configs (they carry physical constants like mass/length/gravity and no type field); the other plant configs are full factory configs.

Estimators¶

Registered via register_estimator; created with EstimatorFactory. All implement estimate(measurement, control_input) and reset().

Registered name	Class	File	Config
`KalmanFilter`	`KalmanFilter`	`estimators/kalman_filter.py`	`configs/estimators/kalman_base.toml`, `kalman_arm.toml`, `kalman_pendulum.toml`, `kalman_cartpole.toml`
`LuenbergerObserver`	`LuenbergerObserver`	`estimators/luenberger_observer.py`	`configs/estimators/luenberger_base.toml`, `luenberger_arm.toml`, `luenberger_pendulum.toml`, `luenberger_cartpole.toml`

Trajectories¶

Registered via register_trajectory; created with TrajectoryFactory. All implement generate(...) and position_at(t).

Registered name	Class	File	Config
`cubic_segments`	`CubicPolynomial`	`trajectories/cubic_polynomial.py`	`configs/trajectories/arm_extension.toml`
`quintic_segments`	`QuinticPolynomial` / `QuinticPolynomialConfigAdapter`	`trajectories/quintic_polynomial.py`	`configs/trajectories/arm_quintic.toml`
`waypoints`	`WaypointSchedule`	`trajectories/quintic_polynomial.py`	`configs/trajectories/arm_lift.toml`, `base_straight.toml`, `base_triangle.toml`
`phase_list`	`PhaseSchedule`	`trajectories/quintic_polynomial.py`	`configs/trajectories/pick_and_place.toml`

Physics engines¶

Registered name	Class	File
MuJoCo	`MuJoCoEngine`	`physics_engine/mujoco.py`

The engine ABC is PhysicsEngine in components.py; engines attach to plants via plant.physics_engine(engine). MuJoCo requires the optional pip install -e ".[mujoco]".

Utilities¶

Not registry-based; import directly from shinro.utils.

Symbol	Module	Purpose
`ArrayBackend`, `NumpyBackend`, `TorchBackend`	`utils/array_backend.py`	Backend-agnostic array abstraction; `parse_matrix` converts TOML lists to matrices
`BatchedDynamicsAdapter`	`utils/batched_adapter.py`	Batches N parallel trajectory rollouts for sampling-based controllers (MPPI)
`linearize`, `linearize_plant`	`utils/linearization.py`	Numeric linearization of plant dynamics around an operating point
`LTISystemsAnalyzer`	`utils/controllability_checker.py`	Controllability/observability, Gramians, balanced truncation
`resolve_config_path`, `get_config_path`	`utils/config_resolver.py`	Resolve config paths inside or outside the installed package

Codegen¶

Tracing/composition/lowering pipeline. See docs/codegen.md for the full walkthrough.

Symbol	Module	Purpose
`Tracer`, `Graph`, `Node`	`codegen/tracing.py`	Abstract values + graph records; operator overloads emit nodes
`TraceBackend`	`codegen/trace_backend.py`	Recording `ArrayBackend` used during tracing
`trace_node`, `trace_node_with_state`	`codegen/trace_node.py`	Trace one component call
`compose`	`codegen/compose.py`	Merge per-component graphs into one closed-loop tick
`interpret`, `interpret_step`	`codegen/interpreter.py`	Replay a graph on real numpy inputs (correctness oracle)
`register_op`, `available_ops`	`codegen/ops.py`	Op-handler registry
`lower_zig`	`codegen/lower_zig.py`	Serialize a composed graph to `src/shinro/runtime/graph_data.zig`

Simulation & MCP¶

Symbol	Module	Purpose
`RobotSim`, `ScenarioFactory`, `Scenario`	`simulation/robotsim.py`, `factories/scenario_factory.py`	Config-driven closed-loop simulation; scenarios live in `tests/integration/scenarios/*.toml`
`shinro-mcp` (console script)	`mcp/server.py`	MCP server exposing factories + analysis as tools (see `docs/mcp_server.md`)