How to use the klampt.io.resource.get function in Klampt

databases. It first allows a user to position the robot's free-floating base in a GUI. 
	Then, it sets up a simulation with those initial conditions, and launches a visualization.
	The controller closes the hand, and then lifts the hand upward.  The output of the robot's
	tactile sensors are printed to the console.

	If use_box is True, then the test object is placed inside a box.
	"""
	world = WorldModel()
	world.loadElement("data/terrains/plane.env")
	robot = make_moving_base_robot(robotname,world)
	object = make_object(object_set,objectname,world)
	if use_box:
		box = make_box(world,*box_dims)
		object.setTransform(*se3.mul((so3.identity(),[0,0,0.01]),object.getTransform()))
	doedit = True
	xform = resource.get("%s/default_initial_%s.xform"%(object_set,robotname),description="Initial hand transform",default=robot.link(5).getTransform(),world=world)
	set_moving_base_xform(robot,xform[0],xform[1])
	xform = resource.get("%s/initial_%s_%s.xform"%(object_set,robotname,objectname),description="Initial hand transform",default=robot.link(5).getTransform(),world=world,doedit=False)
	if xform:
		set_moving_base_xform(robot,xform[0],xform[1])
	xform = resource.get("%s/initial_%s_%s.xform"%(object_set,robotname,objectname),description="Initial hand transform",default=robot.link(5).getTransform(),world=world,doedit=doedit)
	if not xform:
		print "User quit the program"
		return
	#this sets the initial condition for the simulation
	set_moving_base_xform(robot,xform[0],xform[1])

	#now the simulation is launched
	program = GLSimulationPlugin(world)
	sim = program.sim

	#setup some simulation parameters

raise RuntimeError("data/objects/sphere_10cm.obj couldn't be loaded")
			ball = world.rigidObject(world.numRigidObjects()-1)
			R = so3.identity()
			x = i % w
			y = i / w
			x = (x - (w-1)*0.5)*box_dims[0]*0.7/(w-1)
			y = (y - (h-1)*0.5)*box_dims[1]*0.7/(h-1)
			t = [x,y,0.08 + layer*0.11]
			t[0] += random.uniform(-0.005,0.005)
			t[1] += random.uniform(-0.005,0.005)
			ball.setTransform(R,t)
	robot = make_moving_base_robot(robotname,world)
	box = make_box(world,*box_dims)
	box2 = make_box(world,*box_dims)
	box2.geometry().translate((0.7,0,0))
	xform = resource.get("balls/default_initial_%s.xform"%(robotname,),description="Initial hand transform",default=robot.link(5).getTransform(),world=world,doedit=True)
	if not xform:
		print "User quit the program"
		return
	#this sets the initial condition for the simulation
	set_moving_base_xform(robot,xform[0],xform[1])

	#now the simulation is launched
	program = GLSimulationProgram(world)  
	sim = program.sim

	#setup some simulation parameters
	visPreshrink = True   #turn this to true if you want to see the "shrunken" models used for collision detection
	for l in range(robot.numLinks()):
		sim.body(robot.link(l)).setCollisionPreshrink(visPreshrink)
	for l in range(world.numRigidObjects()):
		sim.body(world.rigidObject(l)).setCollisionPreshrink(visPreshrink)

If use_box is True, then the test object is placed inside a box.
	"""
	world = WorldModel()
	world.loadElement("data/terrains/plane.env")
	robot = make_moving_base_robot(robotname,world)
	object = make_object(object_set,objectname,world)
	if use_box:
		box = make_box(world,*box_dims)
		object.setTransform(*se3.mul((so3.identity(),[0,0,0.01]),object.getTransform()))
	doedit = True
	xform = resource.get("%s/default_initial_%s.xform"%(object_set,robotname),description="Initial hand transform",default=robot.link(5).getTransform(),world=world)
	set_moving_base_xform(robot,xform[0],xform[1])
	xform = resource.get("%s/initial_%s_%s.xform"%(object_set,robotname,objectname),description="Initial hand transform",default=robot.link(5).getTransform(),world=world,doedit=False)
	if xform:
		set_moving_base_xform(robot,xform[0],xform[1])
	xform = resource.get("%s/initial_%s_%s.xform"%(object_set,robotname,objectname),description="Initial hand transform",default=robot.link(5).getTransform(),world=world,doedit=doedit)
	if not xform:
		print "User quit the program"
		return
	#this sets the initial condition for the simulation
	set_moving_base_xform(robot,xform[0],xform[1])

	#now the simulation is launched
	program = GLSimulationPlugin(world)
	sim = program.sim

	#setup some simulation parameters
	visPreshrink = True   #turn this to true if you want to see the "shrunken" models used for collision detection
	for l in range(robot.numLinks()):
		sim.body(robot.link(l)).setCollisionPreshrink(visPreshrink)
	for l in range(world.numRigidObjects()):
		sim.body(world.rigidObject(l)).setCollisionPreshrink(visPreshrink)

world = WorldModel()
	world.loadElement("data/terrains/plane.env")
	robot = make_moving_base_robot(robotname,world)
	box = make_box(world,*box_dims)
	shelf = make_shelf(world,*shelf_dims)
	shelf.geometry().translate((0,shelf_offset,shelf_height))
	rigid_objects = []
	for objectset,objectname in objects:
		object = make_object(objectset,objectname,world)
		#TODO: pack in the shelf using x-y translations and z rotations
		object.setTransform(*se3.mul((so3.identity(),[0,shelf_offset,shelf_height + 0.01]),object.getTransform()))
		rigid_objects.append(object)
	xy_jiggle(world,rigid_objects,[shelf],[-0.5*shelf_dims[0],-0.5*shelf_dims[1]+shelf_offset],[0.5*shelf_dims[0],0.5*shelf_dims[1]+shelf_offset],100)

	doedit = True
	xform = resource.get("shelf/default_initial_%s.xform"%(robotname,),description="Initial hand transform",default=robot.link(5).getTransform(),world=world)
	if not xform:
		print "User quit the program"
		return
	set_moving_base_xform(robot,xform[0],xform[1])

	#now the simulation is launched
	program = GLSimulationProgram(world)
	sim = program.sim

	#setup some simulation parameters
	visPreshrink = True   #turn this to true if you want to see the "shrunken" models used for collision detection
	for l in range(robot.numLinks()):
		sim.body(robot.link(l)).setCollisionPreshrink(visPreshrink)
	for l in range(world.numRigidObjects()):
		sim.body(world.rigidObject(l)).setCollisionPreshrink(visPreshrink)