Klampt joint-waypoint planning example

Guarded Python 3 Klampt example that loads a world, edits joint waypoints, plans a trajectory, saves resources and visualizes the result. It also defines optional Cartesian IK-goal and closed-loop planning branches, disabled by default.

klampt-waypoint-planning | Record version: source-b5c5c8f88c44f3e57db77f5afa912052ab717c88e8f86a1503ecca3e6221bf3c

Record JSON | Markdown | Pinned upstream source

Access

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

For one verified inert file, use the installed CLI's inspect response fetch_source_args and append --project DIR --json. Source-file retrieval creates no environment and does not install or run the source.

Hub preparation adapter: false. Follow the upstream setup and invocation contract.

Source and license

Repository: https://github.com/krishauser/Klampt-examples
Revision: 473dabbd8b0a721b7d94e87674cde6c712eabaf5
Path: Python3/demos/plan/planning_test.py
Source SHA256: b5c5c8f88c44f3e57db77f5afa912052ab717c88e8f86a1503ecca3e6221bf3c
Source bytes: 19209
Original authors: Klampt-examples contributors
License: BSD-3-Clause
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.
License SHA256: not independently verified
Hub commit: 0442ed7b99d78a970e92780a16df793e65039370

Artifact

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

Requirements

{
  "python": "Python 3.x (upstream directory declaration; exact version untested)",
  "packages": [
    "Complete compatible Klampt Python/native package",
    "PyOpenGL and PyQt6 for visualization as declared by the reviewed core README"
  ],
  "hardware": [],
  "system": [
    "Working GUI and graphics environment for interactive waypoint editing and visualization",
    "Configured world/robot model and adjacent assets from the upstream examples checkout"
  ],
  "notes": "Run from Python3/demos/plan or supply an explicit world path. The default loads ../../../data/robots/jaco.rob; this Jaco discovery label does not establish model compatibility. Default SBL planning uses restart/shortcutting, active DOFs auto, a 500-iteration limit and a nominal 10-second budget. CLOSED_LOOP_TEST and PLAN_CARTESIAN_TEST are both zero by default. SIMPLIFY_TYPE=ConvexHull changes geometry; fidelity and collision behavior are unverified. Direct waypoint-editor feasibility rejection is disabled. Execution can write planningtest.configs resources and test.path and visualize a path for 60 seconds. Model/mesh bytes and licenses were not reviewed; package/native-library combinations, planning success and timing were not tested."
}

Invocation

{
  "entrypoint": "From Python3/demos/plan: python planning_test.py [world_file]",
  "notes": "Upstream guarded main after configuring dependencies, world assets, GUI and intended file-output locations. Its main workflow plans between edited joint waypoints; optional helpers also accept Cartesian IK goals. A source-only record does not establish collision-free paths, completeness or a measured result. The selected file sends no physical-controller command. The Hub supplies no preparation/execution adapter and ran no source, native library, planner or simulator."
}

Explicit compatibility

[]

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

Evidence

Level: source_reviewed; runtime verification: not_run.

Complete 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 upstream copyright attribution remains unresolved. No model assets, runtime environment, planning success or controller compatibility was verified.

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