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Klampt-examples

Examples for Klampt in C++, Python, and Jupyter notebook

See Klampt repository for details on how to install Klampt on your system.

Contents

• data: world, robot, and object data files.
  • objects: object files
  • robots: robot files
  • terrains: terrain files
  • simulation_test_worlds: for use with Klampt's SimTest to debug the simulator
  • motions: various motions, for use with Klampt's RobotPose and TrajOpt
• Cpp: C++ examples. These will need to be built using cmake, Klampt, and Klampt's dependencies.
• Python: Python 2.x examples.
  • demos: various demos of Klampt's Python API features
  • exercises: basic robotics exercises
  • testing: testing Klampt's Python API
  • utils: various utility programs that may be useful for you
• Python3: Python 3.x examples.
• Jupyter: Jupyter notebook examples, using Python 2.x.

Robots

• NASA ATHLETE (data/robots/athlete.rob)
• Rethink Robotics Baxter (data/robots/baxter.rob, baxter_col.rob, and baxter_with_parallel_gripper_col.rob)
• AIST HRP2 (data/robots/hrp2.rob)
• KAIST's Hubo-II+ (data/robots/huboplus.rob)
• A human hand model (data/robots/humanhand.rob)
• Kinova Jaco (data/robots/jaco.rob)
• Willow Garage PR2 (data/robots/pr2.rob)
• Unimate Puma 760 (data/robots/puma760.rob)
• RobotiQ 3-finger gripper (data/robots/robotiQ_3finger.rob)
• Staubli TX90L (data/robots/tx90l.rob)