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Manual-Resources.md

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Resource management

When building a large, complex robot system, you will typically encounter dozens or hundreds of robot configurations, transforms, inverse kinematics constraints, and paths. Klamp't has many functions to help make managing these elements easier.

Visual editing is a sort of what-you-see-is-what-you-get (WYSIWYG) editing approach for robotics, and Klamp't tries to make visual editing part of the robot hacking workflow in as painless a manner as possible.

This is made more convenient through the Klamp't resource management mechanism. When working on a large project, it is recommended that configurations, paths, holds, etc. be stored in dedicated sub-project folders to avoid polluting the main Klamp't folder. Resources are compatible with the RobotPose app, as well as the C++ and Python APIs.

Resource types

Currently supported types include:

  • Config (.config)
  • Configs (.configs): A configuration list
  • Trajectory (.path): A piecewise linear trajectory object
  • MultiPath (.xml):
  • Hold (.hold)
  • Stance (.stance)
  • Grasp (.xml)
  • GeometricPrimitive (.geom)
  • TriMesh (.off, .tri, etc.)
  • PointCloud (.pcd)
  • Robot (.rob)
  • RigidObject (.obj)
  • World (.xml)

Klamp't also supports the following additional types which do not have a dedicated file extension:

  • Vector3
  • Matrix3
  • RigidTransform
  • Matrix
  • IKGoal

API summary

The Klampt/Modeling/Resources.h file lists all available resource types. Note that a sub-project folder can be loaded all at once through the ResourceLibrary class (KrisLibrary/utils/ResourceLibrary.h). After initializing a ResourceLibrary instance with the MakeRobotResourceLibrary function in (Klampt/Modeling/Resources.h) to make it Klamp't-aware, the LoadAll/SaveAll() methods can load an entire folder of resources. These resources can be accessed by name or type using the Get*() methods.

Alternatively, resource libraries can be saved to XML files via the LoadXml/SaveXml() methods. This mechanism may be useful in the future, for example to send complex robot data across a network.

RobotPose

The RobotPose app can also browse and edit resources. TODO: describe in more detail.