def METHOD_NAME(self, fname):
    """Load a set of grasps from a YAML file."""
    with open(fname, "r", encoding="utf-8") as stream:
        try:
            pdata = yaml.safe_load(stream)
            self.load_yaml(pdata)
        except Exception as exc:
            logerr(f"Failed to load YAML grasp file: {fname} error:{exc}")
            return False
        else:
            loginfo(f"Loaded grasps from file: {fname}")
            return True