Klampt
- Software
- Robot arms and industry
- Library
Klampt is an open-source cross-platform toolbox for robot modeling, simulation, planning, optimization and visualization, with strengths in manipulation and locomotion, usable from C++ and Python.
Source on GitHub: github.com/krishauser/Klampt (opens in a new tab). Facts read at commit 371bb98 (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 371bb98 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Unified C++ and Python package covering kinematics, dynamics, control, motion planning, simulation and visualization.
- Interoperates with ROS 1 and the Open Motion Planning Library (OMPL), and loads and saves URDF robots, meshes and trajectories.
- Provides many geometry types with collision, distance and ray-casting queries between most pairs.
- Includes many sampling-based motion planners (RRT, EST, SBL, RRT*, Lazy-PRM*) plus trajectory optimization and real-time planning.
- Rigid body simulation handles triangle-soup and point cloud collisions, with PID, torque and velocity motor models and common sensor simulation.
- Planning models are decoupled from simulation models, which helps study uncertainty and modeling errors.
Written by Robotheca from the project's README (opens in a new tab) at commit 371bb98.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 11 Jan 2026 on master
- Latest release
- Version 0.7 (31 Mar 2017)
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.