Pose registry files

Read and atomically replace YAML registries of six-joint poses.

mtc_gui.pose_io · Source

How it is used

Use read_poses() and write_poses() for registry files without creating Qt widgets. PosesPanel uses these functions for its load, save, and delete operations. Pose angles are in degrees. Reading retains six-element lists but does not validate their numeric values or joint limits.

Writing replaces the whole registry through a temporary file in the same directory. It removes YAML comments and does not lock out other writers; merge changes with the latest file before saving.

Start here

Callable	Purpose
read_poses	Read a YAML pose registry, retaining only entries with six-element lists.
write_poses	Write the complete pose registry and atomically replace the destination file.

Example

# Requires PyYAML; no Qt, ROS, or hardware. Writes only inside a temporary directory.
from pathlib import Path
from tempfile import TemporaryDirectory
from mtc_gui.pose_io import read_poses, write_poses

with TemporaryDirectory() as directory:
    path = Path(directory) / "poses.yaml"
    write_poses(path, {"inspection": [0, -90, 90, -90, -90, 0]})
    assert read_poses(path)["inspection"] == [0, -90, 90, -90, -90, 0]

Functions

`read_poses()`

Read a YAML pose registry, retaining only entries with six-element lists.

Entry point · Source

read_poses(path)

Parameter	Meaning
`path`	Registry filesystem path; false or nonexistent paths are treated as an empty registry.

Returns: A new mapping containing retained name-to-list entries, or {} for missing paths and nonmapping YAML roots. Names and list element types are unchanged.

Errors: File-open, YAML parse, and invalid-path errors propagate; no numeric or joint-limit validation occurs.

Side effects: Reads the YAML file when it exists.

Referenced in source (3)

PosesPanel.delete_pose — mtc_gui.poses_panel
PosesPanel.load_from_file — mtc_gui.poses_panel
PosesPanel.save_pose — mtc_gui.poses_panel

`write_poses()`

Write the complete pose registry and atomically replace the destination file.

Entry point · Source

write_poses(path, poses)

Parameter	Meaning
`path`	Destination YAML path; its resolved parent directory is created if necessary.
`poses`	Object to serialize, normally a mapping from pose name to six joint angles in degrees; not validated here.

Returns: None.

Errors: On any BaseException inside serialization/replacement, removes the temporary file if it still exists and re-raises. Parent-directory creation and temporary-file creation failures also propagate.

Side effects: Creates parent directories and a same-directory temporary file, replaces the destination, and does not preserve YAML comments.

Referenced in source (2)

PosesPanel.delete_pose — mtc_gui.poses_panel
PosesPanel.save_pose — mtc_gui.poses_panel