Data and configuration files

The following sections aim to give an overview of the configuration files for Zivid Motion, where they are located, and how to edit some of them.

Cell data

Cell configurations live in ~/.local/share/Motion/. This directory has two first-level subdirectories:

  • A data/ directory containing cells. Each cell directory contains the necessary definitions and data used by the planner to operate that cell.

  • A packages/ directory containing files that can be referenced by and shared between multiple cells. The contents of this directory is typically URDF files and meshes.

~/.local/share/Motion/
├─ data/
│  ├─ my_cell/
│  │  ├─ UserConfiguration.yml
│  │  ├─ config.zmd
│  │  ├─ ...
├─ packages/
│  ├─ my_cell/
│  │  ├─ meshes/
│  │  │  ├─ link_1.stl
│  │  │  ├─ ...
│  │  ├─ urdf/
│  │  │  ├─ robot.urdf
│  │  │  ├─ ...

Packaging

Zivid Motion provides functionality to package, share, and install cell configurations:

  • packageCell() collects all files required to execute the planner with the specified cell into a zip archive.

  • packageApiLog() creates a zip file containing the files required to replay a specified API log.

  • installPackage() extracts a package’s contents into ~/.local/share/Motion/.

Example invocations from the command line using the Python API is shown below:

python -c 'import zividmotion; app = zividmotion.Application(); zividmotion.package_cell(application=app, cell_name="my_cell", output_path="my_cell_all.zip", include_generated_data=[zividmotion.Profile.production])'
python -c 'import zividmotion; app = zividmotion.Application(); zividmotion.install_package(application=app, package_path="my_cell_all.zip")'
python -c 'import zividmotion; app = zividmotion.Application(); print(zividmotion.package_api_log(application=app, api_log_path="/path/to/api_log.json"))'

Config files