read raw.pkl file from soft_skeleton_solver (https://github.com/katsuma-inoue/soft_skeleton_solver)

read_raw_pkl.R

library(tidyverse)
library(reticulate)

read_raw_pkl <- function(file_path="/path/to/raw.pkl"){
  # https://gist.github.com/kagaya/32706c38404c99431669ba34b8bccbac
  j <- import("joblib") # python package joblib is loaded via {reticulate}
  arm_xy <- j$load(file_path)
  
  tibble(t=1:length(arm_xy$path), path=arm_xy$path) %>% 
    group_by(t) %>% 
    mutate(x=list(path[[1]][[1]][[2]][,1]),
           y=list(path[[1]][[1]][[2]][,2])) %>% 
    select(t, x, y) %>% 
    unnest(cols=c(x,y)) %>%
    ungroup() %>% 
    group_by(t) %>% 
    mutate(node=1:length(x)) %>% 
    ungroup()
}

txy <- read_raw_pkl("path/to/raw.pkl") # this will load the data as tibble