def METHOD_NAME(klampt_robot_model_fn,klampt_serial_port):
    """Relays Klampt controller messages to and from a ROS Baxter robot"""
    #load robot file
    rospy.init_node('klampt_controller')
    world = WorldModel()
    world.enableGeometryLoading(False)
    res = world.readFile(klampt_robot_model_fn)
    if not res: 
        print 'Error, could not load klampt model from',klampt_robot_model_fn
        exit(1)
    if world.numRobots()==0:
        print 'Error, klampt model',klampt_robot_model_fn,'did not contain a robot'
        exit(1)
    klampt_robot_model = world.robot(0)
    print "Load successful"
    print "Running Klamp't controller -> Baxter robot relay..."
    controller = rosbaxtercontroller.KlamptSerialBaxterController(('localhost',klampt_serial_port),klampt_robot_model)
    controller.run()