Klamp’t Manual

• Installing Klamp’t
  • Klampt-examples
  • Troubleshooting
  • Jupyter notebook integration
  • Ready-to-use web interfaces
  • Grabbing the latest updates
  • Should I build from source?
• Building from source
  • Linux-like Environments
  • Windows
• Organization
  • Module structure
  • Klampt project source
• Running Klamp’t apps
  • klampt_browser
  • klampt_control
  • klampt_path
  • klampt_sim
  • klampt_resource
  • Example files
• Math concepts
  • API summary
  • 3D Points / Directions
  • 3D Rotations
  • Rigid Transformations
  • Linear Algebra
• Kinematic modeling
  • World Models
  • Robot Models
  • Robot Link Models
  • Kinematics Example
  • Robot Joints and Drivers
  • Rigid Object Models
  • Terrain Models
  • World Creation Example
• Inverse Kinematics
  • IK Objective
  • IK Solver
  • Exercise
  • Why isn’t IK working?
• Geometry and Appearance
  • Geometries and collision geometries
  • Collision detection
  • Appearance
• Paths and Trajectories
  • Path and trajectory representations
  • Multipaths
  • Cartesian Trajectories
  • Trajectory Execution
• Motion Planning
  • Robot-level kinematic motion planning
  • Motion Planners
  • Randomized kinematic planning with closed-chain constraints
  • C-space-level kinematic motion planning
  • Choosing planners and tuning parameters
• Simulation
  • Boundary-layer contact detection.
  • Collision response
  • Actuator simulation
  • API summary
  • Example
  • Extracting contacts and contact forces
  • Batch simulation example
• Dynamics and contact mechanics
  • Robot Dynamic Parameters
  • Robot Dynamics
  • Contact mechanics
  • Holds, Stances, and Grasps
• Visualization
  • Quick start
  • Visualization backends
  • Visualization window management
  • klampt.vis Scene Manager
  • User interaction and customization
  • Making your own plugins
• Control
  • Klamp’t Robot Interface Layer
  • Implementing RIL for Your Robot
  • Klampt Control App
  • Under the Hood
  • Emulating Cartesian Control
  • System Building Blocks
• Sensors
  • XML configuration
  • API summary
  • Sensor measurements and attributes
  • Example
  • Interactions between camera sensors and threading
• I/O
  • Custom file formats in Klamp’t
  • API summary
  • World loading and saving
  • Robot (.rob and .urdf) loading and saving
  • ROS Communication
• File types
  • Primitive data file format
  • Geometry file formats
  • World (.xml) file format
  • Robot (.rob) files
  • URDF files (.urdf) with Klamp’t-specific elements
  • Piecewise Linear Path (.path) files
• Resource management
  • Visual editing and visualization support
  • Resource browsing app
  • RobotPose