Klamp't Tutorial: Installation on Linux

August 6, 2025 · View on GitHub

In this tutorial we learn how to install Klamp't, step by step.

Difficulty: easy

Time: 10-30 minutes

Prebuilt Python libraries

For Python 3.5-3.12 on i686, x86_64, and arm64 machines, you should be able to simply run

To run a visualization, you will need PyOpenGL and PyQt5 (or PyQt6), as well as some example programs:

pip install PyOpenGL
pip install PyQt5
git clone http://github.com/krishauser/Klampt-examples (needed to run example programs)
cd Klampt-examples/Python3/demos/control
python simulated_mirobot.py

The following commands will install Klamp't onto your system from source. This will ensure that you have the latest updates.

Make sure you have CMake, GLPK, and Qt5+ on your system. On systems with apt-get, the following command will do the trick:
```
sudo apt-get install g++ cmake git libglpk-dev python3-dev libxmu-dev libxi-dev qtbase5-dev 
```
(recommended) Download and install Assimp using the following command line:
```
sudo apt-get install libassimp-dev
```
or install it from source at: http://sourceforge.net/projects/assimp/files/assimp-3.0/

Clone the Klamp't git repository:

git clone https://github.com/krishauser/Klampt

Make the Klamp't dependencies (KrisLibrary, TinyXML, ODE, GLEW, GLUI):
```
cd Klampt/Cpp/Dependencies; make unpack-deps; make deps
```
If this step fails, some system-dependent configuration may need to be performed. Please consult the Installation section of the Klamp't manual for help on resolving these issues.

(A hint: if you have a multiprocessor, KrisLibrary can be built faster by running "make -j 8" where you can replace 8 with your total number of cores. Just modify the corresponding line in the Makefile under dep-KrisLibrary to do so.)
Configure Klamp't via CMake:
```
cd ../../
cmake .
```
If this step gives warnings, then some of your paths may be incorrect, and you will need to manually adjust them using the cmake-gui program. Note that if you are doing extensive development in Klamp't then you may wish to compile with debugging information instead, using the command
```
cmake -DCMAKE_BUILD_TYPE=Debug .
```
Compile the Klamp't static library
```
make Klampt
```
Make the apps
```
make apps
```
Make and install the Klamp't Python bindings
```
make python
sudo make python-install
```
Optionally, if your system does not already have it, install ffmpeg to save MPEG movies. On Ubuntu systems you may use
```
sudo apt-get install ffmpeg
```

You're done!

Now download the examples and try running the SimTest app

git clone http://github.com/krishauser/Klampt-examples
bin/SimTest Klampt-examples/data/locomotion_worlds/athlete_fractal_1.xml

Or run a simulation from the Python API:

cd Klampt-examples/Python/demos/control
python kbdrive.py ../../../data/tx90roll.xml

Make sure to pip install PyOpenGL and pip install PyQt5.