def deserialize(self, turbine, directory):
""" Method deserializes data in OpenRave format.
Args:
turbine: (@ref Turbine) is the turbine object.
directory: (str) is the relative path to the folder where to load.
Examples:
>>> path.deserialize(turbine,'my_folder')
"""
ind = str()
for i in range(turbine.robot.GetDOF()):
ind += str(i) + ' '
cs = ConfigurationSpecification()
_ = cs.AddGroup('joint_values ' + turbine.robot.GetName() + ' ' + ind,
len(turbine.robot.GetActiveDOFIndices()), 'cubic')
cs.AddDerivativeGroups(1, False)
cs.AddDerivativeGroups(2, False)
_ = cs.AddDeltaTimeGroup()
directory = realpath(directory)
TRAJ = []
onlyfiles = [
f for f in listdir(directory) if isfile(join(directory, f))
]
onlyfiles.sort(key=int)
for afile in onlyfiles:
traj = RaveCreateTrajectory(turbine.env, '')
traj.Init(cs)
xml = ET.parse(open(join(directory, afile)))
traj.deserialize(ET.tostring(xml.getroot()))
TRAJ.append(traj)
self.data = TRAJ
return
def _deserialize_internal(env, data, data_type):
from numpy import array, ndarray
from openravepy import (Environment, KinBody, Robot, Trajectory,
RaveCreateTrajectory)
from prpy.tsr import TSR, TSRChain
from .exceptions import UnsupportedTypeDeserializationException
if data_type == dict.__name__:
return {
deserialize(env, k): deserialize(env, v)
for k, v in data.iteritems()
if k != TYPE_KEY
}
elif data_type == ndarray.__name__:
return array(data['data'])
elif data_type in [ KinBody.__name__, Robot.__name__ ]:
body = env.GetKinBody(data['name'])
if body is None:
raise ValueError('There is no body with name "{:s}".'.format(
data['name']))
return body
elif data_type == KinBody.Link.__name__:
body = env.GetKinBody(data['parent_name'])
if body is None:
raise ValueError('There is no body with name "{:s}".'.format(
data['parent_name']))
link = body.GetLink(data['name'])
if link is None:
raise ValueError('Body "{:s}" has no link named "{:s}".'.format(
data['parent_name'], data['name']))
return link
elif data_type == KinBody.Joint.__name__:
body = env.GetKinBody(data['parent_name'])
if body is None:
raise ValueError('There is no body with name "{:s}".'.format(
data['parent_name']))
joint = body.GetJoint(data['name'])
if joint is None:
raise ValueError('Body "{:s}" has no joint named "{:s}".'.format(
data['parent_name'], data['name']))
return joint
elif data_type == Robot.Manipulator.__name__:
body = env.GetKinBody(data['parent_name'])
if body is None:
raise ValueError('There is no robot with name "{:s}".'.format(
data['parent_name']))
elif not body.IsRobot():
raise ValueError('Body "{:s}" is not a robot.'.format(
data['parent_name']))
manip = body.GetJoint(data['name'])
if manip is None:
raise ValueError('Robot "{:s}" has no manipulator named "{:s}".'.format(
data['parent_name'], data['name']))
return manip
elif data_type == Trajectory.__name__:
traj = RaveCreateTrajectory(env, '')
traj.deserialize(data['data'])
return traj
elif data_type == TSR.__name__:
return TSR.from_dict(data['data'])
elif data_type == TSRChain.__name__:
return TSRChain.from_dict(data['data'])
else:
raise UnsupportedTypeDeserializationException(data_type)