def from_file(cls, robot, file_name, *args):
"""Extract sub gait data of the given yaml.
:param robot:
The robot corresponding to the given subgait file
:param file_name:
The .yaml file name of the subgait
:returns
A populated Subgait object
"""
if file_name is None or not os.path.isfile(file_name):
raise FileNotFoundError(file_path=file_name)
try:
gait_name = file_name.split("/")[-3]
subgait_name = file_name.split("/")[-2]
version = file_name.split("/")[-1].replace(SUBGAIT_SUFFIX, "")
with open(file_name, "r") as yaml_file:
subgait_dict = yaml.load(yaml_file, Loader=yaml.SafeLoader)
except Exception as e: # noqa: PIE786
rospy.logerr("Error occurred in subgait: {te}, {er} ".format(
te=type(e), er=e))
return None
return cls.from_dict(robot, subgait_dict, gait_name, subgait_name,
version, *args)
def __init__(self, package, directory):
self.loaded_gaits = None
self.gait_directory = None
self.joint_names = list()
self.robot = None
package_path = self.get_ros_package_path(package)
self.default_yaml = os.path.join(package_path, directory,
'default.yaml')
if not os.path.isfile(self.default_yaml):
raise FileNotFoundError(file_path=self.default_yaml)
with open(self.default_yaml, 'r') as default_yaml_file:
default_config = yaml.load(default_yaml_file,
Loader=yaml.SafeLoader)
self.gait_directory = os.path.join(package_path, directory)
self._gait_version_map = default_config['gaits']
self.robot = urdf.Robot.from_parameter_server('/robot_description')
self.joint_names = [
joint.name for joint in self.robot.joints if joint.type != 'fixed'
]
rospy.loginfo(
'GaitSelection initialized with package: {pk} of directory {dr}'.
format(pk=package, dr=directory))
rospy.logdebug(
'GaitSelection initialized with gait_version_map: {vm}'.format(
vm=str(self.gait_version_map)))
self.load_gaits()
def validate_gait_in_directory(self, gait_name):
"""Check if the .gait file exists in the given directory."""
gait_map = gait_name
gait_path = os.path.join(self.gait_directory, gait_map,
gait_name + '.gait')
if not os.path.isfile(gait_path):
raise FileNotFoundError(gait_path)
def __init__(self, package, directory):
package_path = self.get_ros_package_path(package)
self._gait_directory = os.path.join(package_path, directory)
self._default_yaml = os.path.join(self._gait_directory, 'default.yaml')
if not os.path.isfile(self._default_yaml):
raise FileNotFoundError(file_path=self._default_yaml)
self._robot = urdf.Robot.from_parameter_server('/robot_description')
self._balance_gait = BalanceGait.create_balance_subgait()
self._gait_version_map = self._load_version_map()
self._loaded_gaits = self._load_gaits()
def load_subgait(robot, gait_directory, gait_name, subgait_name,
gait_version_map):
"""Read the .subgait file and extract the data.
:returns
if gait and subgait names are valid return populated Gait object
"""
if not gait_version_map.get(gait_name):
raise GaitNameNotFound(gait_name)
if not gait_version_map[gait_name].get(subgait_name):
raise SubgaitNameNotFound(subgait_name)
version = gait_version_map[gait_name][subgait_name]
subgait_path = os.path.join(gait_directory, gait_name, subgait_name,
version + '.subgait')
if not os.path.isfile(subgait_path):
raise FileNotFoundError(file_path=subgait_path)
return Subgait.from_file(robot, subgait_path)
def from_file(cls, gait_name, gait_directory, robot, gait_version_map):
"""Extract the data from the .gait file.
:param gait_name:
name of the gait to unpack
:param gait_directory:
path of the directory where the .gait file is located
:param robot:
the robot corresponding to the given .gait file
:param gait_version_map:
The parsed yaml file which states the version of the subgaits
"""
gait_folder = gait_name
gait_path = os.path.join(gait_directory, gait_folder, gait_name + ".gait")
if not os.path.isfile(gait_path):
raise FileNotFoundError(gait_path)
with open(gait_path, "r") as gait_file:
gait_dictionary = yaml.load(gait_file, Loader=yaml.SafeLoader)
return cls.from_dict(robot, gait_dictionary, gait_directory, gait_version_map)