# Klampt Robot Interface Layer pose-control example

Guarded Python 3 Klampt example that opens a ghost-pose editor and sends moveToPosition through a selected Robot Interface Layer interface after an action. A configured hardware interface may command real motion; simulation-only behavior is not established.

ID: `klampt-pose-control`

Record version: `source-18b11d751c12d8ede03f53628d22307b87514525a2519394984d111439a3b6f1`

Hub commit: `1c4c1e1533ff364fd4a35cddc8750b9306b0a5ba`

## Access

Read the pinned source, unresolved attribution note, helper and upstream setup before use. This reference does not install or execute code.

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source klampt-pose-control --expected-source-revision 473dabbd8b0a721b7d94e87674cde6c712eabaf5 --expected-source-sha256 18b11d751c12d8ede03f53628d22307b87514525a2519394984d111439a3b6f1 --project ./experiment --json`. This verifies one file, preserves provenance and never installs or runs it. See [source-file retrieval](https://hub.superfastrobotics.com/source-files.md).

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/krishauser/Klampt-examples/blob/473dabbd8b0a721b7d94e87674cde6c712eabaf5/README.md

## Source and license

- Repository: https://github.com/krishauser/Klampt-examples
- Pinned source: https://github.com/krishauser/Klampt-examples/blob/473dabbd8b0a721b7d94e87674cde6c712eabaf5/Python3/demos/control/pose.py
- Revision: `473dabbd8b0a721b7d94e87674cde6c712eabaf5`
- Path: `Python3/demos/control/pose.py`
- Source SHA256: `18b11d751c12d8ede03f53628d22307b87514525a2519394984d111439a3b6f1`
- Source bytes: 3422
- Original authors: Klampt-examples contributors
- License: [BSD-3-Clause](https://github.com/krishauser/Klampt-examples/blob/473dabbd8b0a721b7d94e87674cde6c712eabaf5/LICENSE)
- License scope: Upstream BSD-3-Clause declaration for the selected Python example only. Its pinned copyright line is incomplete: Copyright (c) 2018, with no holder. Attribution remains unresolved; no holder from the separate core repository is substituted. Models, meshes, configurations, controllers and third-party dependencies are outside this review.

## Artifact

```json
{
  "kind": "code",
  "format": "python"
}
```

## Requirements

```json
{
  "python": "Python 3.x (upstream directory declaration; exact version untested)",
  "packages": [
    "Complete compatible Klampt Python/native package",
    "Sibling kbdrive.py and its unreviewed loading dependencies",
    "PyOpenGL and PyQt6 for visualization as declared by the reviewed core README"
  ],
  "hardware": [
    "Separately authorized robot/controller if a hardware interface is selected"
  ],
  "system": [
    "Working GUI and graphics environment for pose editing",
    "Configured world/model, intended interface and any controller or robot-info inputs"
  ],
  "notes": "The main guard does not cover imports: kbdrive.load_world_and_interface is imported at module top level. That helper was located in the pinned tree but not fetched or reviewed; its loading behavior, import effects and dependencies remain unverified. The main code creates a simulated interface only when the helper returns none; otherwise it uses or wraps the supplied interface. It initializes that interface, reads positions, opens a ghost editor and can send moveToPosition after the registered action. TimedLooper uses the interface's control rate plus a 0.01-second sleep; neither timing nor real-time operation was measured. Normal loop exit closes the interface and viewer, without an encompassing try/finally guarantee. Models, assets, controllers and exact package/robot combinations were not reviewed or tested."
}
```

## Invocation

```json
{
  "entrypoint": "From Python3/demos/control: python pose.py world_file(s) [controller_file], or robotinfo_file [world_files]",
  "notes": "Upstream guarded main only after reviewing the full helper, dependencies, models and selected interface, with separate operator authorization for any hardware. This source may initialize a real controller and command motion; a simulation fallback does not establish simulator-only behavior. A lone copy of pose.py is insufficient. The Hub provides no preparation/execution adapter and contacted no controller, robot or simulator. Physical safety, controller compatibility and task success are unverified."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Complete selected source read as inert text; Python 3 AST and main guard checked without execution. Source, license declaration and README SHA-256, sizes and Git blobs matched the immutable nontruncated tree. Incomplete attribution and unread helper remain explicit. No upstream code, native package, interface, controller, robot or simulator was executed.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.