mccahill/Klampt

Kris' Locomotion and Manipulation Planning Toolkit

#Klamp't

A robot simulation, planning, and control package from Indiana University / Duke University.

More information can be found on the website:

http://klampt.org

The manual is also available in the Documentation folder.

Installation

More information on installing from source on Linux or Mac OSX and binaries on Windows can be found here:

http://motion.pratt.duke.edu/klampt/tutorial_install.html

Using Docker

Using Docker to run this application is the easiest way to install and use Klamp't on your machine. In order to use this method, you must download and set up Docker. Tutorials are available for OSX, Linux and Windows.

Running the Image

Once you've installed Docker, run the container.

On RPM Linux (like Red Hat or Fedora), use:

$ docker run -it -e DISPLAY=unix$DISPLAY -w /etc/Klampt --name klampt -v /tmp/.X11-unix:/tmp/.X11-unix stevekuznetsov/klampt:latest

On Debian Linux (like Ubuntu), use:

$ docker run -it -e DISPLAY=unix$DISPLAY -w /etc/Klampt --name klampt -v /tmp/.X11-unix:/tmp/.X11-unix -v $HOME/.Xauthority:/home/Klampt/.Xauthority -e XAUTHORITY=/home/Klampt/.Xauthority --net=host stevekuznetsov/klampt:latest

On Windows, you need to get Xming and install it, then run:

> Xming.exe :0 -multiwindow -clipboard -ac
> docker run -it -e DISPLAY=192.168.99.1:0 -w /etc/Klampt --name klampt stevekuznetsov/klampt:latest

On Mac, run the following in iTerm.app or Terminal.app:

$ brew install socat
$ brew cask install xquartz
$ socat TCP-LISTEN:6000,reuseaddr,fork UNIX-CLIENT:\"$DISPLAY\"

Then, in whatever terminal you like (can be the same as above), but not in the Docker terminal, run:

$ docker run -it -e DISPLAY=192.168.99.1:0 -w /etc/Klampt --name klampt stevekuznetsov/klampt:latest

Finally, if XQuartz did not start automatically, start it:

$ open -a XQuartz

The parts of the docker run command are explained below. Not all parts apply to every operating system.

Command	Description	Operating Systems
-it	keeps the container active	all
-e DISPLAY=unix$DISPLAY	connects displays	all
--name klampt	names the container	all
-w /etc/Klampt	sets working directory	all
-v /tmp/.X11-unix:/tmp/.X11-unix	mounts the x11 socket	all Linux
-v $HOME/.Xauthority:/home/Klampt/.Xauthority	mounts the Xauthority files	Debian Linux
-e XAUTHORITY=/home/Klampt/.Xauthority	allows the container to connect to the X server	Debian Linux
--net=host	places container inside host's network stack	Debian Linux
stevekuznetsov/klampt:latest	decides which image to run	all

Using Klamp't

Once you've created your own scripts that you wish to run, save them in some directory on your host, and amend the docker run command used above to include -v /path/to/your/data:/home/Klampt/data. For instance, the RPM Linux run command, if there is data at /home/myuser/klamptdata, would look like:

docker run -it -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY --name klampt \
	-v /home/myuser/klamptdata:/home/Klampt/data \ # shares data with the container
	stevekuznetsov/klampt:latest

Then, use the internal tools inside of the container (i.e. SimTest, RobotTest, etc.) on your files. They will be found in /home/Klampt/data.

Contact

Kris Hauser Duke University kris.hauser@duke.edu