# 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.

ID: `klampt-waypoint-planning`

Record version: `source-b5c5c8f88c44f3e57db77f5afa912052ab717c88e8f86a1503ecca3e6221bf3c`

Hub commit: `1c4c1e1533ff364fd4a35cddc8750b9306b0a5ba`

## Access

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

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source klampt-waypoint-planning --expected-source-revision 473dabbd8b0a721b7d94e87674cde6c712eabaf5 --expected-source-sha256 b5c5c8f88c44f3e57db77f5afa912052ab717c88e8f86a1503ecca3e6221bf3c --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/plan/planning_test.py
- Revision: `473dabbd8b0a721b7d94e87674cde6c712eabaf5`
- Path: `Python3/demos/plan/planning_test.py`
- Source SHA256: `b5c5c8f88c44f3e57db77f5afa912052ab717c88e8f86a1503ecca3e6221bf3c`
- Source bytes: 19209
- 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",
    "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

```json
{
  "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."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source 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.