klampt.model package

access

Helpers for accessing world/simulation variables using a class-style interface.

cartesian_trajectory

Utilities for Cartesian IK solving, interpolation, and path adjustment.

collide

Functions and classes for managing collision tests between multiple objects.

config

A uniform interface for getting/setting configurations of arbitrary objects.

contact

Definitions of frictional point contacts, contact maps, basic wrench space calculation subroutines, and performing equilibrium testing.

coordinates

A module to help manage coordinate frames and objects attached to them.

create

Utilities for creating primitives, moving base robots, canonical robot models, and stable piles.

geometry

Utility functions for operating on geometry.

ik

Inverse kinematics methods.

multipath

This module defines the MultiPath class, and methods for loading and saving multipaths from xml files.

sensing

A collection of utility functions for dealing with sensors and sensor data.

subrobot

Defines the SubRobotModel class, which is RobotModel-like but only modifies selected degrees of freedom of the robot (e.g., an arm, a leg).

trajectory

Classes for loading, saving, evaluating, and operating on trajectories.

types

Utilities for inspecting Klamp’t objects to retrieve a type string / create objects from type strings.