User Guide๏
Welcome to the comprehensive ManipulaPy User Guide! This section provides detailed tutorials and explanations for all aspects of robotic manipulation using ManipulaPy.
๐ Master Modern Robotics
From basic kinematics to advanced GPU-accelerated control systems, this guide will take you from beginner to expert.
๐ Complete Guide Overview๏
Core Robotics Fundamentals
Motion Planning & Simulation
- Trajectory Planning User Guide
- Introduction
- Joint-Space Time Scaling
- Dynamics-Aware Torque Computation
- Potential-Field Collision Avoidance
- Basic Usage
- TrajectoryPlanning Class
- Core Methods
- Dynamics Integration
- Trajectory Visualization
- Advanced Features
- Performance Optimization
- Real-Time Applications
- Practical Applications
- Best Practices
- Summary
- Simulation Module User Guide
- Singularity Analysis User Guide
- Collision Checker Module User Guide
- Potential Field Module User Guide
Perception & Intelligence
Advanced Topics
๐บ๏ธ Learning Pathways๏
Choose your learning path based on your experience level and goals:
Complete Beginner
New to robotics? Start here!
Learn forward and inverse kinematics fundamentals
Load and work with robot URDF files
Simulate robots in PyBullet
Plan smooth robot motions
Robotics Engineer
Ready for advanced control?
Understand forces, torques, and physics
Implement PID, computed torque control
Collision detection and avoidance
Analyze robot workspace and limitations
Performance Expert
Master GPU acceleration!
GPU acceleration fundamentals
Accelerated motion planning
Advanced obstacle avoidance
Performance tuning techniques
Vision & Perception
Master intelligent robotics!
Camera setup, calibration, and processing
Object detection and environmental understanding
Perception-aware motion planning
Reactive and vision-guided control
๐ Guide Categories๏
Core Robotics๏
Essential concepts every robotics engineer should master:
Kinematics
Difficulty: Beginner
Robot geometry, forward/inverse kinematics, Jacobians, and workspace analysis.
Dynamics
Difficulty: Intermediate
Mass matrices, inverse/forward dynamics, Coriolis forces, and gravity compensation.
Control Systems
Difficulty: Intermediate
PID control, computed torque, adaptive controllers, and auto-tuning.
Robot Models
Difficulty: Beginner
Load URDF files, extract robot parameters, and create manipulator objects.
Motion Planning & Simulation๏
Advanced motion planning and realistic simulation:
Trajectory Planning
Difficulty: Intermediate
CUDA-accelerated joint and Cartesian trajectory generation with collision avoidance.
PyBullet Simulation
Difficulty: Beginner
Physics simulation, trajectory execution, and interactive robot control.
Collision Detection
Difficulty: Intermediate
Self-collision detection, environment obstacles, and safety monitoring.
Potential Fields
Difficulty: Advanced
Artificial potential fields for path planning and obstacle avoidance.
Perception & Intelligence๏
Computer vision, environmental understanding, and intelligent robot behavior:
Vision Systems
Difficulty: Intermediate
Camera setup, stereo vision, depth processing, and multi-camera systems.
Perception Pipeline
Difficulty: Advanced
Object detection, 3D clustering, environmental understanding, and robot integration.
Advanced Topics๏
Cutting-edge techniques for performance and analysis:
Singularity Analysis
Difficulty: Advanced
Workspace analysis, manipulability ellipsoids, and singularity avoidance.
GPU Acceleration
Difficulty: Expert
Custom CUDA kernels, parallel processing, and performance optimization.
๐ฏ Quick Reference๏
๐ Getting Started
โก Performance
๐ง Common Tasks
๐๏ธ Perception
๐ Advanced Topics
๐ก Study Tips๏
Follow the Order
The guides are designed to build on each other. Start with Kinematics and work your way through systematically.
Code Along
Each guide includes working code examples. Type them out yourself - don't just copy-paste!
Experiment
Modify the examples, try different parameters, and break things. Learning happens through experimentation.
Visualize
Use the plotting functions extensively. Understanding robotics requires good spatial intuition.
See & Think
Use the Vision and Perception modules to add intelligence to your robots. Modern robotics is perception-driven!
๐ Need Help?๏
If you get stuck:
Check the Examples - Each guide has complete working examples
API Reference - Detailed function documentation in ๐ง API Reference Guide
GitHub Issues - Report bugs or ask questions on GitHub