yaml_fast_load.py

def yaml_fast_load(fp):

    collision_dict = {}

    planner = None
    planner_dict = None
    
    number = None
    number_dict = None
    
    dofvals = None

    text_other = ''
    in_collision = False

    for iline,line in enumerate(fp):

	if not in_collision:
	    if line.strip() == 'collision_log:':
		in_collision = True
	    else:
		text_other += line
	    continue

	if ':' not in line:
	    v = line.strip()
	    dofvals.extend(map(float,v[:-1].split(', ')))
	    if v[-1] == ']':
		number_dict['dofvals'] = dofvals
		dofvals = None
	    continue
	
	k,v = line.strip().split(':')
	v = v.strip()

	if k == 'collision_log':
	    pass
	elif k in ['OMPL_RRTConnect','cbirrt']:
	    if planner_dict is not None:
		collision_dict[planner] = planner_dict
	    planner = k
	    planner_dict = {}
	elif k[0] == "'" and k[-1] == "'":
	    if number_dict is not None:
		planner_dict[number] = number_dict
	    number = k[1:-1]
	    number_dict = {}
	elif k in ['body','link','methodname','link1','link2']:
	    number_dict[k] = v
	elif k == 'result':
	    if v == 'true':
		number_dict[k] = True
	    elif v == 'false':
		number_dict[k] = False
	    else:
		raise ValueError('unknown bool')
	elif k == 'bodies_excluded':
	    if v[0] == '[' and v[-1] == ']' and ',' not in v:
		number_dict[k] = [v[1:-1]]
	    else:
		print(v)
		raise ValueError('unknown bodies_excluded')
	elif k == 'links_excluded':
	    if v == '[]':
		number_dict[k] = []
	    else:
		raise ValueError('unknown links_excluded')
	elif k == 'dofvals':
	    dofvals = []
	    if v != '[]':
		dofvals.extend(map(float,v[1:-1].split(', ')))
	    if v[-1] == ']':
		number_dict['dofvals'] = dofvals
		dofvals = None
	elif k == 'ok':
	    pass
	elif k == 'environment':
	    if number_dict is not None:
		planner_dict[number] = number_dict
		number = None
		number_dict = None
	    if planner_dict is not None:
		collision_dict[planner] = planner_dict
		planner = None
		planner_dict = None
	    text_other += line
	    in_collision = False
	else:
	    raise RuntimeError('unknown line: {}'.format(line.rstrip()))

    yamldict = yaml.safe_load(text_other)
    yamldict['collision_log'] = collision_dict
    return yamldict