ManipulaPy Documentation

Python Version Version

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

API Reference

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