def get(name,
type='auto',
directory=None,
default=None,
doedit='auto',
description=None,
editor='visual',
world=None,
frame=None):
"""Retrieve a resource of the given name from the current resources
directory. Resources may be of type Config, Configs, IKGoal, Hold,
Stance, MultiPath, LinearPath, etc. (see Klampt/Modeling/Resources.h for
a complete list; not all are supported in the Python API). They can
also be edited using RobotPose.
If the resource does not already exist, an edit prompt will be
shown, and the result from the prompt will be saved to disk under the
given name.
Arguments:
- name: the resource name. If type='auto', this is assumed to have
a suffix of a file of the desired type. The name can also be
nested of the form 'group/subgroup/name.type'.
- type: the resource type, or 'auto' to determine it automatically.
- directory: the search directory. If None, uses the current
resource directory.
- default: the default value if the resource does not exist on disk.
If None, some arbitrary default value will be inferred.
- doedit: if 'auto', if the resource does not exist on disk, an
edit prompt will be displayed. If False, an RuntimeError will be
raised if the resource does not exist on disk. If True, the
user will be given an edit prompt to optionally edit the resource
before this call returns.
- description: an optional text description of the resource, for use
in the edit prompt.
- editor: either 'visual' or 'console', determining whether to use the
visual OpenGL or console editor.
- world: for a visual editor, this world will be shown along with
the item to edit. If this is a string it points to a file
that will be loaded for the world (e.g., a world XML file, or a
robot file).
- frame: for rigid transforms / rotations / points, the reference
frame for the visual editor. This is an element of se3, or an
ObjectModel, or a RobotModelLink, or a string indicating a named
rigid element of the world.
"""
if name == None:
if doedit == False:
raise RuntimeError(
"Can't get() an anonymous resource without launching editor")
success, newvalue = edit(name,
value=default,
type=type,
description=description,
editor=editor,
world=world,
frame=frame)
if not success:
print "Cancel pressed, returning None"
return None
else:
print "Ok pressed, returning anonymous resource"
return newvalue
if directory == None:
directory = getDirectory()
if type == 'auto':
type = filenameToType(name)
value = None
try:
fn = os.path.join(directory, name)
if type == 'xml':
raise NotImplementedError("TODO: load xml files from Python API")
elif type == 'json':
f = open(fn, 'r')
text = ''.join(f.readlines())
f.close()
value = loader.fromJson(text, type=type)
else:
value = loader.load(type, fn)
if value == None:
raise IOError
if doedit == True:
success, newvalue = edit(name,
value=value,
type=type,
description=description,
editor=editor,
world=world,
frame=frame)
if success:
print "Ok pressed, saving resource to", name
value = newvalue
set(name, value, type=type, directory=directory)
else:
print "Cancel pressed, not saving resource to disk"
return value
return value
except IOError:
if doedit != False:
print "Resource", fn, "does not exist, launching editor..."
success, newvalue = edit(name,
value=default,
type=type,
description=description,
editor=editor,
world=world,
frame=frame)
if success:
print "Ok pressed, saving resource to", name
value = newvalue
set(name, value=value, type=type, directory=directory)
else:
print "Cancel pressed, not saving resource to disk"
return value
else:
raise RuntimeError("Resource " + name + " does not exist")
return
def console_edit(name, value, type, description=None, world=None, frame=None):
print "*********************************************************"
print
print "Editing resource", name, "of type", type
print
if description != None:
print description
print
if frame != None:
if isinstance(frame, (RigidObjectModel, RobotModelLink)):
print "Reference frame:", frame.getName()
else:
print "Reference frame:", frame
print
print "*********************************************************"
print "Current value:", value
print "Do you wish to change it? (y/n/q) >",
choice = ''
while choice not in ['y', 'n', 'q']:
choice = raw_input()[0].lower()
if choice not in ['y', 'n', 'q']:
print "Please enter y/n/q indicating yes/no/quit."
print ">",
if choice == 'y':
print "Enter the new desired value below. You may use native text,"
print "JSON strings, or file(fn) to indicate a file name."
print "New value >",
data = raw_input()
if data.startswith('{') or data.startswith('['):
jsonobj = json.loads(data)
try:
obj = loader.fromJson(jsonobj, type)
return True, obj
except Exception:
print "Error loading from JSON, press enter to continue..."
raw_input()
return False, value
elif data.startswith('file('):
try:
obj = get(data[5:-1], type, doedit=False)
if obj == None:
return False, value
return True, obj
except Exception:
print "Error loading from file, press enter to continue..."
raw_input()
return False, value
else:
try:
obj = loader.read(type, data)
return True, obj
except Exception:
print "Error loading from text, press enter to continue..."
raw_input()
return False, value
elif choice == 'n':
print "Using current value."
print "*********************************************************"
return False, value
elif choice == 'q':
return False, None
def console_edit(name,value,type,description=None,world=None,frame=None):
print "*********************************************************"
print
print "Editing resource",name,"of type",type
print
if description!=None:
print description
print
if frame!=None:
if isinstance(frame,(RigidObjectModel,RobotModelLink)):
print "Reference frame:",frame.getName()
else:
print "Reference frame:",frame
print
print "*********************************************************"
print "Current value:",value
print "Do you wish to change it? (y/n/q) >",
choice = ''
while choice not in ['y','n','q']:
choice = raw_input()[0].lower()
if choice not in ['y','n','q']:
print "Please enter y/n/q indicating yes/no/quit."
print ">",
if choice=='y':
print "Enter the new desired value below. You may use native text,"
print "JSON strings, or file(fn) to indicate a file name."
print "New value >",
data = raw_input()
if data.startswith('{') or data.startswith('['):
jsonobj = json.loads(data)
try:
obj = loader.fromJson(jsonobj,type)
return True,obj
except Exception:
print "Error loading from JSON, press enter to continue..."
raw_input()
return False,value
elif data.startswith('file('):
try:
obj = get(data[5:-1],type,doedit=False)
if obj==None:
return False,value
return True,obj
except Exception:
print "Error loading from file, press enter to continue..."
raw_input()
return False,value
else:
try:
obj = loader.read(type,data)
return True,obj
except Exception:
print "Error loading from text, press enter to continue..."
raw_input()
return False,value
elif choice=='n':
print "Using current value."
print "*********************************************************"
return False,value
elif choice=='q':
return False,None
def get(name,type='auto',directory=None,default=None,doedit='auto',description=None,editor='visual',world=None,frame=None):
"""Retrieve a resource of the given name from the current resources
directory. Resources may be of type Config, Configs, IKGoal, Hold,
Stance, MultiPath, LinearPath, etc. (see Klampt/Modeling/Resources.h for
a complete list; not all are supported in the Python API). They can
also be edited using RobotPose.
If the resource does not already exist, an edit prompt will be
shown, and the result from the prompt will be saved to disk under the
given name.
Arguments:
- name: the resource name. If type='auto', this is assumed to have
a suffix of a file of the desired type. The name can also be
nested of the form 'group/subgroup/name.type'.
- type: the resource type, or 'auto' to determine it automatically.
- directory: the search directory. If None, uses the current
resource directory.
- default: the default value if the resource does not exist on disk.
If None, some arbitrary default value will be inferred.
- doedit: if 'auto', if the resource does not exist on disk, an
edit prompt will be displayed. If False, an RuntimeError will be
raised if the resource does not exist on disk. If True, the
user will be given an edit prompt to optionally edit the resource
before this call returns.
- description: an optional text description of the resource, for use
in the edit prompt.
- editor: either 'visual' or 'console', determining whether to use the
visual OpenGL or console editor.
- world: for a visual editor, this world will be shown along with
the item to edit. If this is a string it points to a file
that will be loaded for the world (e.g., a world XML file, or a
robot file).
- frame: for rigid transforms / rotations / points, the reference
frame for the visual editor. This is an element of se3, or an
ObjectModel, or a RobotModelLink, or a string indicating a named
rigid element of the world.
"""
if name==None:
if doedit==False:
raise RuntimeError("Can't get() an anonymous resource without launching editor")
success,newvalue = edit(name,value=default,type=type,description=description,editor=editor,world=world,frame=frame)
if not success:
print "Cancel pressed, returning None"
return None
else:
print "Ok pressed, returning anonymous resource"
return newvalue
if directory==None:
directory = getDirectory()
if type == 'auto':
type = filenameToType(name)
value = None
try:
fn = os.path.join(directory,name)
if type == 'xml':
raise NotImplementedError("TODO: load xml files from Python API")
elif type == 'json':
f = open(fn,'r')
text = ''.join(f.readlines())
f.close()
value = loader.fromJson(text,type=type)
else:
value = loader.load(type,fn)
if value==None:
raise IOError
if doedit==True:
success,newvalue = edit(name,value=value,type=type,description=description,editor=editor,world=world,frame=frame)
if success:
print "Ok pressed, saving resource to",name
value = newvalue
set(name,value,type=type,directory=directory)
else:
print "Cancel pressed, not saving resource to disk"
return value
return value
except IOError:
if doedit!=False:
print "Resource",fn,"does not exist, launching editor..."
success,newvalue = edit(name,value=default,type=type,description=description,editor=editor,world=world,frame=frame)
if success:
print "Ok pressed, saving resource to",name
value = newvalue
set(name,value=value,type=type,directory=directory)
else:
print "Cancel pressed, not saving resource to disk"
return value
else:
raise RuntimeError("Resource "+name+" does not exist")
return
def get(name,type='auto',directory=None,default=None,doedit='auto',description=None,editor='visual',world=None,referenceObject=None,frame=None):
"""Retrieve a resource of the given name from the current resources
directory. If the resource does not already exist, an edit prompt will be
shown, and the result from the prompt will be saved to disk under the
given name.
Resources may be of type Config, Configs, IKGoal, Hold,
Stance, MultiPath, Trajectory/LinearPath, and ContactPoint, or any of
the basic Klampt object types, geometry types, and math types.
Resources can also be edited using RobotPose.
Args:
name (str): the resource name. If type='auto', this is assumed to have
a suffix of a file of the desired type. The name can also be
nested of the form 'group/subgroup/name.type'.
type (str): the resource type, or 'auto' to determine it automatically.
directory (str, optional): the search directory. If None, uses the current
resource directory.
default (optional): the default value if the resource does not exist on disk.
If None, some arbitrary default value will be inferred.
doedit: if 'auto', if the resource does not exist on disk, an
edit prompt will be displayed. If False, an RuntimeError will be
raised if the resource does not exist on disk. If True, the
user will be given an edit prompt to optionally edit the resource
before this call returns.
description (str, optional): an optional text description of the resource, for use
in the edit prompt.
editor (str): either 'visual' or 'console', determining whether to use the
visual OpenGL or console editor.
world (WorldModel, optional): for a visual editor, this world will be shown along with
the item to edit. If this is a string it points to a file
that will be loaded for the world (e.g., a world XML file, or a
robot file).
referenceObject (optional): to give visual reference points, one or more RobotModels,
ObjectModels, Geometry3D's, or RobotModelLink's may be designated to follow
the edited object. Currently works with Config's / Configs' / Trajectories /
rigid transforms / rotations / points.
frame (optional): for rigid transforms / rotations / points, the reference
frame in which the quantity is represented. This is an element of
se3, or an ObjectModel, or a RobotModelLink, or a string indicating a
named rigid element of the world.
"""
if name==None:
if doedit==False:
raise RuntimeError("Can't get() an anonymous resource without launching editor")
success,newvalue = edit(name,value=default,type=type,description=description,editor=editor,world=world,referenceObject=referenceObject,frame=frame)
if not success:
print "Cancel pressed, returning None"
return None
else:
print "Ok pressed, returning anonymous resource"
return newvalue
if directory==None:
directory = getDirectory()
if type == 'auto':
type = filenameToType(name)
value = None
try:
fn = os.path.join(directory,name)
try:
if type == 'xml':
value = WorldModel()
res = value.readFile(fn)
if not res:
try:
value = loader.load('MultiPath',fn)
except Exception as e:
raise
elif type == 'json':
f = open(fn,'r')
text = ''.join(f.readlines())
f.close()
value = loader.fromJson(text,type=type)
else:
value = loader.load(type,fn)
except IOError:
raise
except Exception,e:
import traceback
print "Unable to read object from file "+fn
print "Traceback: "
traceback.print_exc()
raise IOError()
if value==None:
raise IOError("Unable to load from file "+fn)
if doedit==True:
success,newvalue = edit(name,value=value,type=type,description=description,editor=editor,world=world,referenceObject=referenceObject,frame=frame)
if success:
print "Ok pressed, saving resource to",name
value = newvalue
set(name,value,type=type,directory=directory)
else:
print "Cancel pressed, not saving resource to disk"
return value
return value