[robotics-worldwide] [software] Presenting Klamp't: a simulation toolbox for locomotion and manipulation
hauserk at indiana.edu
Fri Nov 15 09:56:36 PST 2013
Dear robotics community,
The Intelligent Motion Lab at Indiana University is publicly releasing
Klamp't v0.5, a new toolbox for multi-limb contact planning and simulation.
Developed over the course of several research projects since 2009, Klamp't
is a cross-platform library that specializes in planning, modeling, and
simulation for humanoid robots, legged robots, and mobile manipulators. It
is primarily intended for research, education, and fast prototyping, but
some tools are also suitable for production robots.
Key features include:
- The most stable mesh-mesh contact simulator available. Stop
wasting time modeling a robot with geometric primitives: Klamp't works
out-of-the-box with uncleaned CAD models, and even objects captured from a
Kinect or laser sensors!
- Motion planning and trajectory optimization on contact manifolds,
with balance, collision, torque, and friction constraints.
- Supports fixed-base and floating-base robots. Includes models
for the Willow Garage PR2, Boston Dynamics ATLAS, NASA ATHLETE, NASA
Robonaut, KAIST Hubo-II+, AIST HRP-2, and more. URDF importer included.
- Supports *nix and Windows environments. Mac support is possible
with some work. C++ and Python API. BSD license.
Download instructions, media, and FAQ can be found at:
Klamp't is open source, and we are excited to accept requests and
contributions from the robotics community. We are especially eager to
partner with users of other libraries (e.g., ROS, OpenRAVE, OMPL, MoveIt,
etc.) to make Klamp't seamlessly interoperable with your systems.
Please address questions, comments, and suggestions to Kris Hauser at
hauserk at indiana.edu, and consider subscribing to the Klamp't Google Group at
http://groups.google.com/d/forum/klampt?hl=en. Happy Klamping!
Kris Hauser, PhD
Assistant Professor of Computer Science
School of Informatics and Computing, Indiana University
Office: (812) 856-7496 Fax: (812) 855-4829
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