ManipulaPy Documentation — ManipulaPy 1.1.0 Documentation
Description: Python Version Version ManipulaPy is a comprehensive Python library for robotic manipulator analysis, simulation, and control. Features: Kinematics: Forward and inverse kinematics for serial manipu...

# ManipulaPy Documentation

ManipulaPy is a comprehensive Python library for robotic manipulator analysis, simulation, and control.

## Features

- Kinematics: Forward and inverse kinematics for serial manipulators

- Dynamics: Mass matrix computation, inverse dynamics, forward dynamics

- Trajectory Planning: CUDA-accelerated trajectory generation and execution

- Computer Vision: Camera calibration, stereo vision, and object detection

- Perception: Obstacle detection and 3D point cloud processing

- Control: Various control algorithms including PID, computed torque, and adaptive control

- Simulation: PyBullet integration for realistic robot simulation

- URDF Processing: Automatic robot model generation from URDF files

## Quick Start

### Installation

    pip install manipulapy

### Basic Usage

    import numpy as np
    from ManipulaPy.kinematics import SerialManipulator
    from ManipulaPy.urdf_processor import URDFToSerialManipulator

    # Load robot from URDF
    processor = URDFToSerialManipulator("path/to/robot.urdf")
    robot = processor.serial_manipulator

    # Forward kinematics
    joint_angles = np.array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
    end_effector_pose = robot.forward_kinematics(joint_angles)

## Table of Contents

User Guide

- Tutorials
  - Kinematics Tutorial
  - Dynamics Tutorial

API Reference

- 🔧 API Reference Guide
  - 📦 Module Overview
  - 📖 How to Use This Reference
  - 🔍 Quick Navigation

## Modules Overview

### Core Modules

- `ManipulaPy.kinematics` - Forward and inverse kinematics

- `ManipulaPy.dynamics` - Robot dynamics computations

- `ManipulaPy.path_planning` - Trajectory planning and execution

- `ManipulaPy.control` - Control algorithms and implementations

### Vision and Perception

- `ManipulaPy.vision` - Computer vision capabilities

- `ManipulaPy.perception` - 3D perception and obstacle detection

### Simulation and Utilities

- `ManipulaPy.sim` - PyBullet simulation interface

- `ManipulaPy.urdf_processor` - URDF file processing

- `ManipulaPy.utils` - Utility functions and transformations

## Indices and Tables

- Index

- Module Index

- Search Page