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Exporting Study

Preparing for Export​

Displayed Objects​

Only visible (unhidden) objects and robots at the time of export are included in the .zip.
Tip: Hide any unnecessary entities to:

  • Speed up export process
  • Avoid unsupported object export errors

If a robot is visible but has no associated operation, a dummy operation is exported with two targets at the current pose. This helps Resolver correctly place the robot. Otherwise, the robot defaults to its zero joint position, which may cause planning issues.

What Gets Exported?​

When a study is exported, a .zip file is generated for use with the Resolver engine. This archive contains several essential files and folders:

Export Unzipped

project.yaml​

Defines how the engine should build the workcell. It has references to all items in the objects and robot_models folders. The engine looks at this file to define how objects are positioned and mated. The project.yaml specification will be published in the future.

queries.json​

Contains the query generated by the exporter, defining operations, targets, and precedence constraints:

  • Build Workflow (in Resolver Cloud): Provides a UI for editing.
  • API (beta) Workflow: Displays as plain text, editable manually.

metadata.json​

Stores performance and study data to improve the user experience in future versions.

workcell.txt​

Describes the joint hierarchy of robots in the scene.

logs.json​

Logs data about the study and export process.

cad​

Contains .mf files of robot models, used alongside project.yaml to construct virtual robot models and environmental objects.

Supported Applications​

  • Spot Welding
  • Arc Welding
  • Riveting
  • Inspection

Other applications may be supported upon request.
If you're unsure or your use case isn't listed, submit a support ticket to consult an RTR Application Engineer.

Exporting Sequences​

The Connector exports one sequence (operation) per robot, and these are executed in parallel. When selecting a sequence for export, ensure that:

  • Any sub-sequence calls or additional sequences are included within the main sequence to be exported.
  • Only the required targets are included (e.g., process points or essential vias).
  • You run ⏮️ Reset before exporting — all robots and objects must be in their starting positions.
  • The target order is preserved in the results.

Step-by-Step: Exporting from Visual Components​

  1. In the Visual Components menu, navigate to Realtime Robotics Connector, then click:

    Export → Subprograms to export
    Select the sequence(s) for each robot to export.

    Export To RTR Button

  2. Click Export whole cell to local file. In the export dialog:

    • Enter a Name for the export (used as the filename for the .zip).
    • Click Browse to choose the destination folder.

  3. Click Save.

    • Monitor the Output panel for completion. Export time varies with cell size.
    • On success, you’ll see a message like: 
      Created Zip file :\Path\To\Your\File.zip

Once complete, upload the .zip file to Resolver Cloud to begin processing.