🔧 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
• TRAC-IK Solver Module
  • TracIKSolver
  • trac_ik_solve()
• IK Helpers Module
  • workspace_heuristic_guess()
  • extrapolate_from_current()
  • random_in_limits()
  • midpoint_of_limits()
  • IKInitialGuessCache
  • adaptive_multi_start_ik()
• Utils Module
  • extract_r_list()
  • extract_omega_list()
  • extract_screw_list()
  • NearZero()
  • skew_symmetric()
  • transform_from_twist()
  • adjoint_transform()
  • logm()
  • rotation_logm()
  • logm_to_twist()
  • skew_symmetric_to_vector()
  • se3ToVec()
  • TransToRp()
  • TransInv()
  • MatrixLog6()
  • MatrixExp6()
  • MatrixLog3()
  • VecToso3()
  • VecTose3()
  • MatrixExp3()
  • CubicTimeScaling()
  • QuinticTimeScaling()
  • rotation_matrix_to_euler_angles()
  • euler_to_rotation_matrix()
• ManipulaPy.urdf — URDF Subpackage (v1.3.2+)
  • Module overview
  • URDF class
  • PackageResolver class
  • Examples
  • 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
  • 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