Capabilities

This section is a per-capability guide to the engine. Each page describes what the algorithm does, the conventions it follows, and — importantly — how far it has actually been verified. Cross-validated numbers, self-consistent-only components, and by-design limitations are all called out explicitly; the whole trust map is collected in the verification chapter.

• Kinematics & IK — FK, geometric Jacobians, DLS/LM and analytic 6R inverse kinematics, singularity analysis.
• Motion — jerk-limited S-curve MOVE_J/L/C, waypoint retiming, time-optimal (TOPP) parameterization.
• Dynamics & simulation — RNEA, CRBA, forward dynamics, the Simulator.
• Planning — RRT-Connect / RRT* / PRM, shortcut smoothing, reachability, CHOMP-style trajectory optimization.
• Collision — OBB-SAT, GJK, EPA penetration depth, half-space, capsule, mesh-as-convex-hull.
• Control & safety — the backend contract, the computed-torque control loop, the safety monitor, teleop, dataset record.
• Calibration — joint-offset (zero) calibration.
• Doctors & trajectory lint — the asset doctor (A001–A014, with mechanical repair), the dataset doctor (D001–D015), and the trajectory lint (T001–T009).
• Studio dataflow graph — the Phase-8 serde IR and deterministic executor.
• Learning sidecar — the pure-PyTorch behavior-cloning package.
• Verdicts — eval, profiling & the Policy Autopsy — the seeded eval harness (E001–E003), the deploy-loop latency profiler (L001–L003), the policy debugger (P001–P008), and the autopsy that merges them under one verdict.

For a single table of every capability against the face(s) that expose it — including honest gaps — see the capability matrix.