Resource management

When building a large, complex robot system, you will typically encounter dozens or hundreds of robot configurations, transforms, inverse kinematics constraints, and paths. Klamp’t has many functions to help make managing these elements easier.

Visual editing is a sort of what-you-see-is-what-you-get (WYSIWYG) editing approach for robotics, and Klamp’t tries to make visual editing part of the robot hacking workflow in as painless a manner as possible.

This is made more convenient through the Klamp’t resource management mechanism. When working on a large project, it is recommended that configurations, paths, holds, etc. be stored in dedicated sub-project folders to avoid polluting the main Klamp’t folder. Resources are compatible with the RobotPose app, as well as the C++ and Python APIs.

The module allows you to easily load, save, or edit resources. Visual editing is supported for Config, Configs, Vector, and RigidTransform types. As an example, the below code loads an xform resource, and visually edits it if it doesnt exist:

from import resource
from klampt.math import se3

See the Klampt-examples/Python/demos/ demo for more examples about how to use this module.

Currently supported types include:

  • Config (.config)
  • Configs (.configs): A configuration list
  • Trajectory (.path): A piecewise linear trajectory object
  • MultiPath (.xml): See klampt.model.multipath
  • Hold (.hold)
  • Stance (.stance)
  • Grasp (.xml)
  • GeometricPrimitive (.geom)
  • TriMesh (.off, .tri, etc.)
  • PointCloud (.pcd)
  • Robot (.rob)
  • RigidObject (.obj)
  • World (.xml)

Klamp’t also supports the following additional types which do not have a dedicated file extension:

  • Vector3
  • Matrix3
  • RigidTransform
  • Matrix
  • IKGoal

Visual editing and visualization support

The resource types that can be visually edited include

Type vis.add resource.edit resource.get / resource.edit
Vector3 Y Y Y
Matrix3 Y Y Y
RigidTransform Y Y Y
Config Y Y Y
Configs Y Y Y
Trajectory Y Y Y
MultiPath Y N N
Hold Y N N
Stance Y N N
Grasp Y N N
Geometry3D Y N N
Robot Y Y (config) N
RigidObject Y Y (transform) N
World Y N Y
Anything in the coordinates module Y N N

The object types with a Y in the first column can be visually inspected using vis.add(name,object). In the second column, you can edit them using vis.edit(name)

Calling resource.get or resource.edit on a supported object will use the corresponding classes in vis.editors. In addition, you can also use the following editors:

  • ObjectTransformEditor: edit RigidObject transforms
  • SelectionEditor: edit subsets of a RobotModel

As an example, you can run

import klampt
from klampt.vis import editors
world = klampt.WorldModel()
if not world.readFile("Klampt-examples/data/robots/baxter.rob"):
    raise RuntimeError("Can't read the Baxter file")
links ="active_ik_links",
                description="Robot arm links for IK",
print "Selected links",links

The editor will pop up as follows, and you may click on links in the scene or in the list to change the selected links:


Resource browsing app

The Klamp’t Python API comes with the klampt_browser script to quickly browse through resources, and even edit them. It allows you to navigate a directory tree and select multiple objects and resources to display.

If you have selected resources of any type that can be edited in the vis module (see list above), you can click the “Edit” button and then save the edited value to disk.

See the klampt_browser docs for more details.


If you have built from source, the RobotPose app can also browse and edit resources. See the RobotPose documentation for more details.