🔧 API Reference Guide — ManipulaPy 1.1.0 Documentation
Description: Welcome to the low-level API reference for ManipulaPy. This section contains auto-generated documentation for all key modules, classes, and functions in the library, based on the actual Python sour...

# 🔧 API Reference Guide

Welcome to the low-level API reference for ManipulaPy.

This section contains auto-generated documentation for all key modules, classes, and functions in the library, based on the actual Python source code using Sphinx autodoc.

Note

- This section is not a tutorial – it’s for precise function/class definitions.

- For interactive examples and walkthroughs, see The Python Tutorial.

- For explanations, workflows, and configuration, see the User Guide.

## 📦 Module Overview

🔩 Core Manipulator Stack

Core Modules

- Kinematics API Reference
  - Quick Navigation
  - SerialManipulator Class
  - Usage Examples
  - Key Features
  - Mathematical Background
  - See Also
- Dynamics API Reference
  - Quick Navigation
  - Full Equations
  - Usage Examples
  - Key Features
  - Troubleshooting
  - See Also
- Path Planning API Reference
  - Quick Navigation
  - OptimizedTrajectoryPlanning Class
  - TrajectoryPlanning Class
  - Utility Functions
  - CPU Optimization Functions
  - Usage Examples
  - Key Features
  - Performance Characteristics
  - Configuration Guidelines
  - See Also
- Control API Reference
  - Quick Navigation
  - ManipulatorController Class
  - Control Strategies
  - State Estimation
  - Performance Analysis Tools
  - Auto-Tuning and Limits
  - See Also
- URDF Processor API Reference
  - Quick Navigation
  - URDFToSerialManipulator Class
  - Usage Examples
  - Key Features
  - Dependencies
  - See Also

🧠 Planning, Simulation & Optimization

Planning & Simulation

- Simulation API Reference
  - Quick Navigation
  - Simulation Class
  - Simulation Management
  - Robot Control and State
  - Interactive Controls
  - Visualization and Analysis
  - Safety and Monitoring
  - Main Execution
  - Logging and Utilities
  - Usage Examples
  - Configuration Options
  - Performance Considerations
  - Error Handling
  - Integration with Other Modules
  - See Also
  - External References
- Potential Field API Reference
  - Quick Navigation
  - PotentialField Class
  - Potential Field Computations
  - CollisionChecker Class
  - Collision Detection Methods
  - Data Structures and Internal Representation
  - Computational Complexity Analysis
  - Numerical Implementation Details
  - Error Handling and Edge Cases
  - Memory Management
  - See Also
  - External Dependencies
- CUDA Kernels API Reference
  - Availability Check
  - Core CUDA Kernels
  - High-Level Wrappers
  - CPU Fallback Functions
  - Memory Management
  - Grid Configuration
  - Performance Tools
  - Constant Memory
  - Module Constants
  - Environment Variables

👁️ Perception & Vision

Perception Modules

- Perception API Reference
  - Quick Navigation
  - Perception Class
  - Primary Perception Methods
  - Stereo Vision Integration
  - Machine Learning Components
  - Resource Management
  - Logging Infrastructure
  - Dependencies and Integration
  - Error Recovery and Robustness
  - See Also
  - External Dependencies
- Vision API Reference
  - Quick Navigation
  - Vision Class
  - Camera Management
  - Image Acquisition
  - Object Detection
  - Stereo Vision Pipeline
  - PyBullet Debug Interface
  - Resource Management
  - Utility Functions
  - Data Structures and Configuration
  - Error Handling and Validation
  - Performance Considerations
  - See Also
  - External Dependencies

🧪 Advanced Analysis

Analysis Tools

- Singularity API Reference
  - Quick Navigation
  - Singularity Class
  - Singularity Detection
  - Manipulability Analysis
  - Workspace Analysis
  - Mathematical Implementation
  - Performance Characteristics
  - Data Flow Architecture
  - Error Handling and Validation
  - See Also

## 📖 How to Use This Reference

- Module headers show the import path: e.g., `ManipulaPy.control.ManipulatorController`

- Function signatures are exact and include optional/default parameters

- Class attributes and properties are listed, with docstrings if provided

- NumPy/CuPy compatibility is noted where applicable

- Examples may be included for select methods/classes

## 🔍 Quick Navigation

- Index – Alphabetical list of all documented symbols

- Module Index – Index of Python modules

- Search Page – Full-text search across the documentation