def stable_pose(data, stable_pose_id):
""" Read out a stable pose object """
p = data[stable_pose_id].attrs[STABLE_POSE_PROB_KEY]
r = data[stable_pose_id].attrs[STABLE_POSE_ROT_KEY]
try:
x0 = data[stable_pose_id].attrs[STABLE_POSE_PT_KEY]
except:
x0 = np.zeros(3)
return stp.StablePose(p, r, x0, stp_id=stable_pose_id)
def stable_poses(data):
""" Read out a list of stable pose objects """
num_stable_poses = data.attrs[NUM_STP_KEY]
stable_poses = []
for i in range(num_stable_poses):
stp_key = POSE_KEY + '_' + str(i)
p = data[stp_key].attrs[STABLE_POSE_PROB_KEY]
r = data[stp_key].attrs[STABLE_POSE_ROT_KEY]
try:
x0 = data[stp_key].attrs[STABLE_POSE_PT_KEY]
except:
x0 = np.zeros(3)
stable_poses.append(stp.StablePose(p, r, x0, stp_id=stp_key))
return stable_poses