{
  "id": "klampt-pose-control",
  "name": "Klampt Robot Interface Layer pose-control example",
  "summary": "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.",
  "framework": "klampt",
  "kind": "community_skill",
  "capabilities": [
    "robot-control",
    "pose-control",
    "joint-position-control"
  ],
  "aliases": [
    "Klampt",
    "Klamp't",
    "Robot Interface Layer",
    "moveToPosition",
    "ghost pose editor"
  ],
  "robots": [
    "source-defined"
  ],
  "source": {
    "repository": "https://github.com/krishauser/Klampt-examples",
    "commit": "473dabbd8b0a721b7d94e87674cde6c712eabaf5",
    "path": "Python3/demos/control/pose.py",
    "url": "https://github.com/krishauser/Klampt-examples/blob/473dabbd8b0a721b7d94e87674cde6c712eabaf5/Python3/demos/control/pose.py",
    "sha256": "18b11d751c12d8ede03f53628d22307b87514525a2519394984d111439a3b6f1",
    "bytes": 3422,
    "authors": [
      "Klampt-examples contributors"
    ]
  },
  "license": {
    "spdx": "BSD-3-Clause",
    "url": "https://github.com/krishauser/Klampt-examples/blob/473dabbd8b0a721b7d94e87674cde6c712eabaf5/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.",
    "verified": false
  },
  "artifact": {
    "kind": "code",
    "format": "python"
  },
  "requirements": {
    "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": {
    "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": [
    {
      "runtime": "unknown",
      "runtime_version": "unknown",
      "robot": "unknown",
      "controller": "unknown",
      "observation": "unknown",
      "os": "unknown",
      "status": "unknown"
    }
  ],
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Read the pinned source, unresolved attribution note, helper and upstream setup before use. This reference does not install or execute code.",
    "setup_url": "https://github.com/krishauser/Klampt-examples/blob/473dabbd8b0a721b7d94e87674cde6c712eabaf5/README.md"
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-18",
    "inspection": "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."
  },
  "maintenance": {
    "record_version": "reviewed-20261018-18b11d751c12",
    "last_checked": "2026-10-18",
    "upstream_status": "source_pinned"
  }
}