Abstract: Systems and a method identify a kinematic capability in a virtual kinematic device. Input data are received, wherein the input data contains data on a point cloud representation of a given virtual kinematic device. A kinematic analyzer is applied to the input data, wherein the kinematic analyzer is modeled with a function trained by a machine learning algorithm and the kinematic analyzer generates output data. The output data contains data for associating a subset of the points of the point cloud representation to a set of kinematic descriptors of at least one link identified on the point cloud representation of the given virtual kinematic device. From the output data at least one identified kinematic capability is determined in the given virtual kinematic device.