Full API documentation
Contents:
- klampt.robotsim (core classes) module
- Modeling robots and worlds
- Modeling geometries
- Inverse kinematics
- Simulation
- Equilibrium testing
- Input/Output
- Visualization
- Module contents
WorldModel
RobotModel
RobotModelLink
RigidObjectModel
TerrainModel
SensorModel
Mass
ContactParameters
SimRobotController
SimBody
SimJoint
Simulator
Geometry3D
Appearance
DistanceQuerySettings
DistanceQueryResult
ContactQueryResult
TriangleMesh
PointCloud
GeometricPrimitive
ConvexHull
ImplicitSurface
OccupancyGrid
Heightmap
IKObjective
IKSolver
GeneralizedIKObjective
GeneralizedIKSolver
set_random_seed()
com_equilibrium()
com_equilibrium_2d()
equilibrium_torques()
force_closure()
force_closure_2d()
set_friction_cone_approximation_edges()
support_polygon()
support_polygon_2d()
Widget
WidgetSet
ObjectPoser
RobotPoser
PointPoser
TransformPoser
Viewport
- klampt.math package
- Basic Math Submodules
- Optimization Submodules
- Symbolic Submodules
- Miscellaneous Submodules
- Autodiff submodules
- klampt.math.autodiff.ad module
- klampt.math.autodiff.math_ad module
- klampt.math.autodiff.so3_ad module
- klampt.math.autodiff.se3_ad module
- klampt.math.autodiff.kinematics_ad module
- klampt.math.autodiff.dynamics_ad module
- klampt.math.autodiff.geometry_ad module
- klampt.math.autodiff.trajectory_ad module
- klampt.math.autodiff.pytorch module
- klampt.model package
- klampt.model.access module
- klampt.model.calibrate module
- klampt.model.cartesian_trajectory module
- klampt.model.collide module
- klampt.model.config module
- klampt.model.contact module
- klampt.model.coordinates module
Frame
Transform
Point
Direction
Group
Manager
manager()
setManager()
destroy()
setWorldModel()
setRobotModel()
setController()
setSimBody()
updateFromWorld()
updateToWorld()
addFrame()
addPoint()
addDirection()
addGroup()
deleteFrame()
deletePoint()
deleteDirection()
deleteGroup()
setFrameCoordinates()
frame()
getPoint()
getDirection()
toWorld()
to()
transform()
point()
direction()
pointFromWorld()
directionFromWorld()
listFrames()
listItems()
ik_objective()
ik_fixed_objective()
- klampt.model.create package
- klampt.model.geometry module
- Working with geometric primitives
- Working with point clouds
- Other utilities
box()
sphere()
PlaneFitter
point_cloud_simplify()
point_cloud_normals()
fit_plane3()
fit_plane()
fit_plane_centroid()
align_points_rotation()
align_points()
point_cloud_colors()
point_cloud_set_colors()
triangle_normals()
vertex_normals()
merge()
sample_surface()
- klampt.model.ik module
- klampt.model.multipath module
- klampt.model.robotinfo module
- klampt.model.sensing module
- Sensor transforms
- Getting images and point clouds
- Working with cameras
set_sensor_xform()
camera_to_images()
image_to_points()
camera_to_points()
camera_to_points_world()
camera_to_viewport()
viewport_to_camera()
camera_to_intrinsics()
intrinsics_to_camera()
camera_ray()
camera_project()
visible()
occluded()
sample_visible_surface()
visible_fraction()
laser_to_points()
projection_map_texture()
- klampt.model.subrobot module
- klampt.model.trajectory module
- klampt.model.types module
- klampt.model.workspace module
- klampt.vis package
- Commonly used submodules
- Utility / infrequently used submodules
- Module contents
- OVERVIEW
- INSTRUCTIONS
- WINDOWING API
- SCENE MODIFICATION API
- NAMING CONVENTION
init()
debug()
nativeWindow()
scene()
createWindow()
setWindow()
getWindow()
setPlugin()
pushPlugin()
popPlugin()
splitView()
addPlugin()
run()
multithreaded()
dialog()
setWindowTitle()
getWindowTitle()
resizeWindow()
kill()
loop()
show()
spin()
lock()
unlock()
update()
shown()
customUI()
threadCall()
addAction()
clear()
add()
listItems()
getItemName()
dirty()
animate()
pauseAnimation()
stepAnimation()
animationTime()
setTimeCallback()
remove()
getItemConfig()
setItemConfig()
setLabel()
hideLabel()
hide()
edit()
pick()
addButton()
addCheckbox()
addSelect()
addInput()
addWidget()
setGUI()
bindWidget()
removeWidget()
getWidgetState()
setAppearance()
setAttribute()
getAttribute()
getAttributes()
revertAppearance()
setColor()
setDrawFunc()
autoFitViewport()
addText()
clearText()
addPlot()
addPlotItem()
logPlot()
logPlotEvent()
hidePlotItem()
setPlotDuration()
setPlotRange()
setPlotPosition()
setPlotSize()
savePlot()
autoFitCamera()
followCamera()
getViewport()
setViewport()
resizeViewport()
setBackgroundColor()
saveJsonConfig()
loadJsonConfig()
screenshot()
screenshotCallback()
objectToVisType()
VisPlotItem
VisPlot
drawTrajectory()
drawRobotTrajectory()
VisAppearance
VisualizationScene
- All submodules
- klampt.vis.camera module
- klampt.vis.colorize module
- klampt.vis.editors module
- klampt.vis.glcommon module
- klampt.vis.gldraw module
- klampt.vis.glinit module
- klampt.vis.glinterface module
- klampt.vis.glprogram module
- klampt.vis.glrobotprogram module
- klampt.vis.glviewport module
- klampt.vis.ipython package
- klampt.vis.qtbackend module
- klampt.vis.glutbackend module
- klampt.sim package
- klampt.plan package
- klampt.io package
- klampt.io.html module
- klampt.io.loader module
- Module summary
EXTENSION_TO_TYPES
UNSUPPORTED_JSON_TYPES
TYPE_TO_EXTENSIONS
filename_to_types()
filename_to_type()
write_Vector()
read_Vector()
write_Vector_raw()
read_Vector_raw()
write_VectorList()
read_VectorList()
write_Matrix()
read_Matrix()
write_so3()
read_so3()
write_se3()
read_se3()
write_Matrix3()
read_Matrix3()
read_ContactPoint()
write_ContactPoint()
read_IKObjective()
write_IKObjective()
read_Hold()
write_Hold()
write_GeometricPrimitive()
read_GeometricPrimitive()
read_IntArray()
read_StringArray()
parse_lines()
write()
read()
load_WorldModel()
load_Geometry3D()
load_Trajectory()
load_MultiPath()
load_dynamic_xml()
save()
load()
to_json()
from_json()
- klampt.io.resource module
- klampt.io.ros module
from_Vector3()
to_Vector3()
from_Point()
to_Point()
from_Quaternion()
to_Quaternion()
from_Pose()
to_Pose()
from_Transform()
to_Transform()
from_PoseStamped()
to_PoseStamped()
from_JointState()
to_JointState()
from_Float32MultiArray()
to_Float32MultiArray()
from_JointTrajectory()
to_JointTrajectory()
to_Path()
from_Path()
from_Mesh()
to_Mesh()
from_PointCloud2()
to_PointCloud2()
to_CameraInfo()
from_CameraInfo()
to_SensorMsg()
to_ShapeMsg()
fromMsg()
toMsg()
publisher_SensorModel()
publisher()
object_publisher()
subscriber()
object_subscriber()
broadcast_tf()
listen_tf()
- klampt.io.numpy_convert module
- klampt.io.open3d_convert module
- klampt.io.povray module
- Module contents
- klampt.control package
- klampt.control.robotinterface module
- klampt.control.robotinterfaceutils module
StepContext
make_from_file()
OmniRobotInterface
RobotInterfaceCompleter
LimitFilter
BrakeLimitFilter
CartesianLimitFilter
SelfCollisionFilter
CollisionFilter
DifferenceFilter
LoggingFilter
klamptCartesianPosition()
klamptCartesianVelocity()
klamptCartesianForce()
ThreadedRobotInterface
MultiprocessingRobotInterface
RobotInterfaceEmulator
RobotInterfaceLogger
RobotInterfaceRecorder
- klampt.control.simrobotinterface module
- klampt.control.networkrobotinterface module
- klampt.control.interop module
- klampt.control.blocks package
- klampt.control.io package
- klampt.control.cartesian_drive module
- klampt.control.motion_generation module