Support !degree & !randians yaml prefixes#7
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JafarAbdi wants to merge 3 commits intoPickNikRobotics:mainfrom
Open
Support !degree & !randians yaml prefixes#7JafarAbdi wants to merge 3 commits intoPickNikRobotics:mainfrom
JafarAbdi wants to merge 3 commits intoPickNikRobotics:mainfrom
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MarqRazz
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Feb 20, 2023
MarqRazz
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MarqRazz
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@JafarAbdi the changes look simple enough but do we have a easy way to test this? I though I had a quick way but I don't have a moveit_config that uses the param_builder.
The ur_moveit_launch.py does not use it.
Maybe we could add it to the moveit_resources_panda_robot demo.launch.py so we can verify this is working properly.
sea-bass
reviewed
Feb 27, 2023
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| try: | ||
| yaml.SafeLoader.add_constructor("!radians", construct_angle_radians) | ||
| yaml.SafeLoader.add_constructor("!degrees", construct_angle_degrees) | ||
| except Exception: | ||
| raise Exception("yaml support not available; install python-yaml") | ||
|
|
||
| try: | ||
| with open(file_path, "r") as file: | ||
| return yaml.load(file, Loader=yaml.FullLoader) | ||
| except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available | ||
| return yaml.safe_load(file) |
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Based on this resource and some limitation I found when integrating this in Studio, I have a suggestion.
First, make a function like this which we can use standalone:
def get_yaml_loader():
"""Gets a YAML loader that additionally supports custom constructors."""
loader = yaml.SafeLoader
loader.add_constructor("!radians", construct_angle_radians)
loader.add_constructor("!degrees", construct_angle_degrees)
return loader
Then, in your implementation, you can do:
def load_yaml(file_path: Path, loader=get_yaml_loader()):
...
return yaml.load(file, Loader=loader)
Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
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Replaced with #9 |
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This's makes it so it's possible to have '!degrees' and '!radians' in the yaml config files (UR's joint limits for an example)