Klampt Python API
Klamp’t Manual
Installing Klamp’t
Building from source
Organization
Running Klamp’t apps
Math concepts
Kinematic modeling
Inverse Kinematics
Geometry and Appearance
Paths and Trajectories
Motion Planning
Simulation
Dynamics and contact mechanics
Visualization
Control
Sensors
I/O
File types
Resource management
Frequently asked questions (FAQ)
Programming notes and tips
Full API documentation
Klampt Python API
Klamp’t Manual
View page source
Klamp’t Manual
Installing Klamp’t
TL;DR
Versions and optional dependencies
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
Calibration file formats
Resource management
Visual editing and visualization support
Resource browsing app
RobotPose