# ManipulaPy Implementation Status

**Last Updated:** 2026-01-06
**Version:** 1.3.0

This document provides a unified view of all ManipulaPy features and their implementation status.

---

## Legend

| Status | Meaning |
|--------|---------|
| ✅ **Implemented** | Feature is complete and tested |
| ⚠️ **Partial** | Feature exists but has limitations |
| ❌ **Not Implemented** | Feature is planned but not yet available |

---

## 1. Core Robotics (ManipulaPy Core)

### Kinematics

| Feature | Status | Notes |
|---------|--------|-------|
| Forward Kinematics (Space Frame) | ✅ Implemented | `forward_kinematics()` |
| Forward Kinematics (Body Frame) | ✅ Implemented | `forward_kinematics_body()` |
| Jacobian (Space Frame) | ✅ Implemented | `jacobian()` |
| Jacobian (Body Frame) | ✅ Implemented | `jacobian_body()` |
| Jacobian Transpose | ✅ Implemented | |
| Jacobian Pseudoinverse | ✅ Implemented | |
| Manipulability Index | ✅ Implemented | |
| Singularity Detection | ✅ Implemented | |

### Inverse Kinematics

| Feature | Status | Notes |
|---------|--------|-------|
| Iterative IK (Newton-Raphson) | ✅ Implemented | `iterative_inverse_kinematics()` |
| Damped Least Squares (DLS) | ✅ Implemented | `ik_damped_least_squares()` |
| Jacobian Transpose IK | ✅ Implemented | `ik_jacobian_transpose()` |
| Robust Multi-Start IK | ✅ Implemented | `robust_inverse_kinematics()` |
| Analytical IK | ❌ Not Implemented | Robot-specific solutions |
| Constraint-based IK | ⚠️ Partial | Joint limits only |

### Dynamics

| Feature | Status | Notes |
|---------|--------|-------|
| Mass Matrix | ✅ Implemented | `mass_matrix()` |
| Coriolis/Centrifugal Forces | ✅ Implemented | `velocity_quadratic_forces()` |
| Gravity Compensation | ✅ Implemented | `gravity_forces()` |
| Inverse Dynamics | ✅ Implemented | `inverse_dynamics()` |
| Forward Dynamics | ✅ Implemented | `forward_dynamics()` |
| End-Effector Forces | ✅ Implemented | `end_effector_forces()` |

### Trajectory Planning

| Feature | Status | Notes |
|---------|--------|-------|
| Joint Space Interpolation | ✅ Implemented | Linear, cubic, quintic |
| Cartesian Space Interpolation | ✅ Implemented | |
| Screw Motion Trajectory | ✅ Implemented | |
| Time-Optimal Trajectories | ⚠️ Partial | Basic implementation |
| Velocity/Acceleration Limits | ✅ Implemented | |
| Jerk Limits | ⚠️ Partial | |
| Obstacle Avoidance | ⚠️ Partial | Potential field only |

---

## 2. URDF Parser (ManipulaPy/urdf/)

### Parsing Features

| Feature | Status | Notes |
|---------|--------|-------|
| Links (name, inertial, visuals, collisions) | ✅ Implemented | |
| Joints (revolute, continuous, prismatic, fixed) | ✅ Implemented | |
| Planar Joints | ✅ Implemented | |
| Floating Joints | ✅ Implemented | |
| Joint Properties (origin, axis, limits) | ✅ Implemented | |
| Joint Dynamics (damping, friction) | ✅ Implemented | |
| Mimic Joints | ✅ Implemented | |
| Safety Controller | ✅ Implemented | |
| Calibration Data | ✅ Implemented | |
| Materials (color, texture) | ✅ Implemented | |
| Geometry (box, cylinder, sphere, mesh) | ✅ Implemented | |
| Inertial (mass, inertia matrix, origin) | ✅ Implemented | |
| Transmissions | ✅ Implemented | |
| Xacro Macro Expansion | ✅ Implemented | |
| package:// URI Resolution | ✅ Implemented | Via PackageResolver |
| Gazebo Extensions | ❌ Not Implemented | |

### URDF Validation

| Feature | Status | Notes |
|---------|--------|-------|
| Cyclic Chain Detection | ✅ Implemented | |
| Multiple Root Detection | ✅ Implemented | |
| Disconnected Link Detection | ✅ Implemented | |
| Missing Inertial Warnings | ✅ Implemented | |

### URDF Kinematics/Dynamics

| Feature | Status | Notes |
|---------|--------|-------|
| Single Configuration FK | ✅ Implemented | `link_fk()` |
| Batch FK (Vectorized) | ✅ Implemented | `link_fk_batch()` - 50x faster |
| Screw Axis Extraction | ✅ Implemented | S_list, B_list, M, G_list |
| Tip Link Selection | ✅ Implemented | For branched robots |
| COM Offset in Spatial Inertia | ✅ Implemented | Parallel axis theorem |
| SerialManipulator Conversion | ✅ Implemented | `to_serial_manipulator()` |
| ManipulatorDynamics Conversion | ✅ Implemented | `to_manipulator_dynamics()` |

### Multi-Robot Support

| Feature | Status | Notes |
|---------|--------|-------|
| Scene Class | ✅ Implemented | `Scene` |
| Multiple Robots with Base Transforms | ✅ Implemented | |
| Namespace Support | ✅ Implemented | |
| World-Frame FK | ✅ Implemented | |
| Collision Geometry Access | ✅ Implemented | |
| Visual Geometry Access | ✅ Implemented | |
| Collision Detection | ⚠️ Partial | Bounding box only |

### URDF Modifiers

| Feature | Status | Notes |
|---------|--------|-------|
| Joint Origin Modification | ✅ Implemented | |
| Joint Axis Modification | ✅ Implemented | |
| Joint Limit Modification | ✅ Implemented | |
| Joint Zero Offset (Calibration) | ✅ Implemented | |
| Link Mass Modification | ✅ Implemented | |
| Link Inertia Modification | ✅ Implemented | |
| Link COM Modification | ✅ Implemented | |
| Payload Addition | ✅ Implemented | |
| Mass Scaling | ✅ Implemented | |
| URDF Export to XML | ✅ Implemented | |
| Calibration File (YAML/JSON) | ✅ Implemented | |

### Backends

| Backend | Status | Notes |
|---------|--------|-------|
| Native (builtin) | ✅ Implemented | Default, NumPy 2.0+ compatible |
| urchin | ⚠️ Partial | Legacy fallback, NOT NumPy 2.0 compatible |
| PyBullet | ✅ Implemented | For simulation integration |

---

## 3. Control (ManipulaPy/control.py)

| Feature | Status | Notes |
|---------|--------|-------|
| PID Control | ✅ Implemented | |
| PD Control | ✅ Implemented | |
| Computed Torque Control | ✅ Implemented | |
| Feedforward Control | ✅ Implemented | |
| PD + Feedforward Control | ✅ Implemented | |
| Cartesian Space Control | ✅ Implemented | |
| Joint Space Control | ✅ Implemented | |
| Adaptive Control | ✅ Implemented | |
| Robust Control | ✅ Implemented | |
| Kalman Filter Control | ✅ Implemented | Predict, update, control |
| Ziegler-Nichols Tuning | ✅ Implemented | P, PI, PID |
| Joint/Torque Limit Enforcement | ✅ Implemented | |
| Steady-State Metrics | ✅ Implemented | Rise time, overshoot, settling time |
| MPC (Model Predictive Control) | ❌ Not Implemented | |
| Impedance Control | ❌ Not Implemented | |

---

## 4. Path Planning (ManipulaPy/path_planning.py)

| Feature | Status | Notes |
|---------|--------|-------|
| RRT (Rapidly-exploring Random Trees) | ✅ Implemented | |
| RRT-Connect | ✅ Implemented | |
| RRT* | ✅ Implemented | |
| PRM (Probabilistic Roadmap) | ✅ Implemented | |
| A* Search | ✅ Implemented | |
| Potential Field | ✅ Implemented | |
| Path Smoothing | ✅ Implemented | |
| Collision Checking | ✅ Implemented | |
| Multi-query Planning | ⚠️ Partial | |

---

## 5. Vision (ManipulaPy/vision/)

| Feature | Status | Notes |
|---------|--------|-------|
| Camera Calibration | ✅ Implemented | Intrinsic/extrinsic |
| Hand-Eye Calibration | ✅ Implemented | Eye-in-hand, eye-to-hand |
| Feature Detection | ✅ Implemented | OpenCV integration |
| Object Detection (YOLO) | ✅ Implemented | Optional dependency |
| Pose Estimation | ✅ Implemented | |
| Point Cloud Processing | ⚠️ Partial | Basic support |
| Depth Image Processing | ✅ Implemented | |

---

## 6. Simulation (ManipulaPy/simulation/)

| Feature | Status | Notes |
|---------|--------|-------|
| PyBullet Integration | ✅ Implemented | |
| Physics Simulation | ✅ Implemented | |
| Visualization | ✅ Implemented | |
| Collision Detection | ✅ Implemented | |
| Contact Dynamics | ✅ Implemented | |
| Sensor Simulation | ⚠️ Partial | |

---

## 7. GPU Acceleration

| Feature | Status | Notes |
|---------|--------|-------|
| CuPy Backend | ✅ Implemented | Optional, for CUDA GPUs |
| NumPy Fallback | ✅ Implemented | Automatic when CuPy unavailable |
| Numba JIT | ⚠️ Partial | Some functions |
| Batch Operations | ✅ Implemented | Vectorized computations |

---

## 8. Robot Data (ManipulaPy_data/)

### Supported Robots

| Manufacturer | Models | Status |
|--------------|--------|--------|
| Universal Robots | UR3, UR5, UR10, UR3e, UR5e, UR10e, UR16e | ✅ 7 models |
| Franka Emika | Panda | ✅ 1 model |
| KUKA | LBR iiwa 7, iiwa 14 | ✅ 2 models |
| Kinova | Gen3, Jaco 6-DOF, Jaco 7-DOF | ✅ 3 models |
| Fanuc | LRMate 200iB, M-16iB, CRX-5iA, CRX-10iA, CRX-10iA/L, CRX-20iA/L, CRX-30iA | ✅ 7 models |
| ABB | IRB 2400 | ✅ 1 model |
| UFactory | xArm6, xArm6 with Gripper | ✅ 2 models |
| Robotiq | 2F-85, 2F-140 | ✅ 2 grippers |

**Total: 25 robot models from 7 manufacturers**

---

## 9. Testing & CI

| Feature | Status | Notes |
|---------|--------|-------|
| Unit Tests | ✅ Implemented | 316+ tests |
| Integration Tests | ✅ Implemented | |
| CI/CD (GitHub Actions) | ✅ Implemented | Python 3.8, 3.9, 3.10, 3.11, 3.12 |
| Code Coverage | ⚠️ Partial | ~47% for URDF module |
| Performance Benchmarks | ✅ Implemented | |

---

## 10. Documentation

| Feature | Status | Notes |
|---------|--------|-------|
| README | ✅ Implemented | |
| API Documentation | ✅ Implemented | Docstrings |
| Examples | ✅ Implemented | Examples/ directory |
| Tutorials | ✅ Implemented | Jupyter notebooks |
| Troubleshooting Guide | ✅ Implemented | URDF troubleshooting |
| CHANGELOG | ✅ Implemented | |

---

## Known Limitations

1. **Analytical IK**: Robot-specific closed-form IK solutions not implemented
2. **Collision Detection**: Full mesh-mesh collision requires PyBullet
3. **Real-time Control**: Not designed for hard real-time applications
4. **ROS Integration**: Limited to URDF/xacro parsing; no ROS node support
5. **Mobile Robots**: Focused on manipulators; mobile base support is basic

---

## Compatibility

| Dependency | Minimum Version | Maximum Version | Notes |
|------------|-----------------|-----------------|-------|
| Python | 3.8 | 3.12 | |
| NumPy | 1.24 | 2.x | Full NumPy 2.0 support |
| SciPy | 1.10 | Latest | 1.14+ for NumPy 2.0 |
| PyBullet | 3.0 | Latest | Optional |
| CuPy | 11.0 | Latest | Optional, CUDA 11/12 |
| trimesh | 3.0 | Latest | Optional |

---

## Future Roadmap

### Planned Features

1. **Analytical IK** for common robots (UR, Panda, KUKA)
2. **Impedance/Admittance Control**
3. **Model Predictive Control (MPC)**
4. **Improved Collision Detection** with FCL/HPP-FCL
5. **ROS 2 Integration** package
6. **Web-based Visualization**

---

*For detailed URDF parser documentation, see `/ManipulaPy/urdf/README.md`*
*For robot data documentation, see `/ManipulaPy/ManipulaPy_data/MANIFEST.md`*
