def load_grasps(obj, source):
grasps = []
for root, dirs, files in os.walk(source):
for f in files:
if f.find(obj.key) != -1 and f.endswith('.json'):
filename = os.path.join(root, f)
with open(filename, 'r') as grasp_file:
grasps.append(
g.ParallelJawPtGrasp3D.from_json(
jsons.load(grasp_file)))
return grasps
def load_grasps(self, key, grasp_dir=None):
"""Loads a list of grasps from a file (grasp_dir/key.json).
Params:
key - string name of a graspable
grasp_dir - string path to the grasp.json directory; defaults to
self.dataset_root_dir_
"""
if grasp_dir is None:
grasp_dir = self.dataset_root_dir_
path = os.path.join(grasp_dir, Dataset.json_filename(key))
try:
with open(path) as f:
grasps = jsons.load(f)
except:
logging.warning('No grasp file found for key %s' % (key))
return []
return [grasp.ParallelJawPtGrasp3D.from_json(g) for g in grasps]
def load_grasps(self, key, grasp_dir=None):
"""Loads a list of grasps from a file (grasp_dir/key.json).
Params:
key - string name of a graspable
grasp_dir - string path to the grasp.json directory; defaults to
self.dataset_root_dir_
"""
if grasp_dir is None:
grasp_dir = self.dataset_root_dir_
path = os.path.join(grasp_dir, Dataset.json_filename(key))
try:
with open(path) as f:
grasps = jsons.load(f)
except:
logging.warning('No grasp file found for key %s' %(key))
return []
return [grasp.ParallelJawPtGrasp3D.from_json(g) for g in grasps]
def load_all_features(self, grasps, out_rate=50):
path = os.path.join(self.features_dir_, self.graspable_.key + ".json")
try:
with open(path) as f:
features_json = jsons.load(f)
num_digits = len(str(len(grasps) - 1)) # for padding with zeros
features = []
for i, (feature_json, grasp) in enumerate(zip(features_json, grasps)):
if i % out_rate == 0:
logging.info("Loading features for grasp %d" % (i))
feature = self._load_feature_rep(
feature_json, grasp, "%s_%s" % (self.graspable_.key, str(i).zfill(num_digits))
)
features.append(feature)
except Exception as e:
logging.warning("Exception in feature loading")
return []
return features
def load_all_features(self, grasps, out_rate=50):
path = os.path.join(self.features_dir_, self.graspable_.key + '.json')
try:
with open(path) as f:
features_json = jsons.load(f)
num_digits = len(str(len(grasps) - 1)) # for padding with zeros
features = []
for i, (feature_json,
grasp) in enumerate(zip(features_json, grasps)):
if i % out_rate == 0:
logging.info('Loading features for grasp %d' % (i))
feature = self._load_feature_rep(
feature_json, grasp,
'%s_%s' % (self.graspable_.key, str(i).zfill(num_digits)))
features.append(feature)
except Exception as e:
logging.warning('Exception in feature loading')
return []
return features
