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.