serialization
JSON serialization for Walkers and optimization results.
Walker and optimization result serialization.
Provides JSON save/load for Walker instances and NsgaWalkingResult.
Delegates to pylinkage’s graph_to_dict/graph_from_dict for
topology and Dimensions.to_dict/Dimensions.from_dict for
geometry (positions, distances, driver angles).
Files written by leggedsnake < 0.6.0 remain readable: pylinkage’s
Dimensions.from_dict accepts both the current [node_a, node_b,
distance] triples and the older stringified-tuple hyperedge keys.
Example:
from leggedsnake.serialization import save_walker, load_walker
save_walker(walker, "my_walker.json")
loaded = load_walker("my_walker.json")
# Save full optimization results
from leggedsnake.serialization import save_result, load_result
save_result(nsga_result, "optimization.json")
loaded_result = load_result("optimization.json")
- leggedsnake.serialization.load_result(path: str | Path) NsgaWalkingResult | TopologyWalkingResult
Load an NsgaWalkingResult from a JSON file.
- Parameters:
path (str | Path) – Path to JSON file created by
save_result.- Return type:
- leggedsnake.serialization.load_walker(path: str | Path) Any
Load a Walker from a JSON file.
- Parameters:
path (str | Path) – Path to JSON file created by
save_walker.- Return type:
- leggedsnake.serialization.result_from_dict(data: dict[str, Any]) NsgaWalkingResult | TopologyWalkingResult
Deserialize an NsgaWalkingResult from a plain dict.
- Parameters:
data (dict[str, Any]) – Dictionary from
result_to_dict.- Return type:
- leggedsnake.serialization.result_to_dict(result: NsgaWalkingResult) dict[str, Any]
Serialize an NsgaWalkingResult to a plain dict.
Serializes the Pareto front (scores, dimensions), configuration, and topology metadata. Gait and stability time series are omitted (too large and can be recomputed).
- Parameters:
result (NsgaWalkingResult) – Optimization result to serialize.
- Returns:
JSON-serializable dictionary.
- Return type:
dict[str, Any]
- leggedsnake.serialization.save_result(result: NsgaWalkingResult, path: str | Path) None
Save an NsgaWalkingResult to a JSON file.
- Parameters:
result (NsgaWalkingResult) – Optimization result to save.
path (str | Path) – Output file path.
- leggedsnake.serialization.save_walker(walker: Any, path: str | Path) None
Save a Walker to a JSON file.
- Parameters:
walker (Walker) – The walker to save.
path (str | Path) – Output file path.
- leggedsnake.serialization.walker_from_dict(data: dict[str, Any]) Any
Deserialize a Walker from a plain dict.
- Parameters:
data (dict[str, Any]) – Dictionary from
walker_to_dict.- Return type: