Source code for bosdyn.choreography.client.animation_file_conversion_helpers

# Copyright (c) 2021 Boston Dynamics, Inc.  All rights reserved.
#
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).

"""A set helpers which convert specific lines from an animation
file into the animation-specific protobuf messages.

NOTE: All of these helpers are to convert specific values read from a `cha`
file into fields within the choreography_sequence_pb2.Animation protobuf
message. They are used by the animation_file_to_proto.py file.
"""

from bosdyn.api.spot import (choreography_sequence_pb2, choreography_service_pb2,
                             choreography_service_pb2_grpc)


[docs]def start_time_handler(val, animation_frame): animation_frame.time = val return animation_frame
[docs]def fl_angles_handler(vals, animation_frame): animation_frame.legs.fl.joint_angles.hip_x = vals[0] animation_frame.legs.fl.joint_angles.hip_y = vals[1] animation_frame.legs.fl.joint_angles.knee = vals[2] return animation_frame
[docs]def fr_angles_handler(vals, animation_frame): animation_frame.legs.fr.joint_angles.hip_x = vals[0] animation_frame.legs.fr.joint_angles.hip_y = vals[1] animation_frame.legs.fr.joint_angles.knee = vals[2] return animation_frame
[docs]def hl_angles_handler(vals, animation_frame): animation_frame.legs.hl.joint_angles.hip_x = vals[0] animation_frame.legs.hl.joint_angles.hip_y = vals[1] animation_frame.legs.hl.joint_angles.knee = vals[2] return animation_frame
[docs]def hr_angles_handler(vals, animation_frame): animation_frame.legs.hr.joint_angles.hip_x = vals[0] animation_frame.legs.hr.joint_angles.hip_y = vals[1] animation_frame.legs.hr.joint_angles.knee = vals[2] return animation_frame
[docs]def fl_pos_handler(vals, animation_frame): animation_frame.legs.fl.foot_pos.x.value = vals[0] animation_frame.legs.fl.foot_pos.y.value = vals[1] animation_frame.legs.fl.foot_pos.z.value = vals[2] return animation_frame
[docs]def fr_pos_handler(vals, animation_frame): animation_frame.legs.fr.foot_pos.x.value = vals[0] animation_frame.legs.fr.foot_pos.y.value = vals[1] animation_frame.legs.fr.foot_pos.z.value = vals[2] return animation_frame
[docs]def hl_pos_handler(vals, animation_frame): animation_frame.legs.hl.foot_pos.x.value = vals[0] animation_frame.legs.hl.foot_pos.y.value = vals[1] animation_frame.legs.hl.foot_pos.z.value = vals[2] return animation_frame
[docs]def hr_pos_handler(vals, animation_frame): animation_frame.legs.hr.foot_pos.x.value = vals[0] animation_frame.legs.hr.foot_pos.y.value = vals[1] animation_frame.legs.hr.foot_pos.z.value = vals[2] return animation_frame
[docs]def gripper_handler(val, animation_frame): animation_frame.gripper.gripper_angle.value = val return animation_frame
[docs]def fl_contact_handler(val, animation_frame): animation_frame.legs.fl.stance.value = val return animation_frame
[docs]def fr_contact_handler(val, animation_frame): animation_frame.legs.fr.stance.value = val return animation_frame
[docs]def hl_contact_handler(val, animation_frame): animation_frame.legs.hl.stance.value = val return animation_frame
[docs]def hr_contact_handler(val, animation_frame): animation_frame.legs.hr.stance.value = val return animation_frame
[docs]def sh0_handler(val, animation_frame): animation_frame.arm.joint_angles.shoulder_0.value = val return animation_frame
[docs]def sh1_handler(val, animation_frame): animation_frame.arm.joint_angles.shoulder_1.value = val return animation_frame
[docs]def el0_handler(val, animation_frame): animation_frame.arm.joint_angles.elbow_0.value = val return animation_frame
[docs]def el1_handler(val, animation_frame): animation_frame.arm.joint_angles.elbow_1.value = val return animation_frame
[docs]def wr0_handler(val, animation_frame): animation_frame.arm.joint_angles.wrist_0.value = val return animation_frame
[docs]def wr1_handler(val, animation_frame): animation_frame.arm.joint_angles.wrist_1.value = val return animation_frame
[docs]def fl_hx_handler(val, animation_frame): animation_frame.legs.fl.joint_angles.hip_x = val return animation_frame
[docs]def fl_hy_handler(val, animation_frame): animation_frame.legs.fl.joint_angles.hip_y = val return animation_frame
[docs]def fl_kn_handler(val, animation_frame): animation_frame.legs.fl.joint_angles.knee = val return animation_frame
[docs]def fr_hx_handler(val, animation_frame): animation_frame.legs.fr.joint_angles.hip_x = val return animation_frame
[docs]def fr_hy_handler(val, animation_frame): animation_frame.legs.fr.joint_angles.hip_y = val return animation_frame
[docs]def fr_kn_handler(val, animation_frame): animation_frame.legs.fr.joint_angles.knee = val return animation_frame
[docs]def hl_hx_handler(val, animation_frame): animation_frame.legs.hl.joint_angles.hip_x = val return animation_frame
[docs]def hl_hy_handler(val, animation_frame): animation_frame.legs.hl.joint_angles.hip_y = val return animation_frame
[docs]def hl_kn_handler(val, animation_frame): animation_frame.legs.hl.joint_angles.knee = val return animation_frame
[docs]def hr_hx_handler(val, animation_frame): animation_frame.legs.hr.joint_angles.hip_x = val return animation_frame
[docs]def hr_hy_handler(val, animation_frame): animation_frame.legs.hr.joint_angles.hip_y = val return animation_frame
[docs]def hr_kn_handler(val, animation_frame): animation_frame.legs.hr.joint_angles.knee = val return animation_frame
[docs]def fl_x_handler(val, animation_frame): animation_frame.legs.fl.foot_pos.x.value = val return animation_frame
[docs]def fl_y_handler(val, animation_frame): animation_frame.legs.fl.foot_pos.y.value = val return animation_frame
[docs]def fl_z_handler(val, animation_frame): animation_frame.legs.fl.foot_pos.z.value = val return animation_frame
[docs]def fr_x_handler(val, animation_frame): animation_frame.legs.fr.foot_pos.x.value = val return animation_frame
[docs]def fr_y_handler(val, animation_frame): animation_frame.legs.fr.foot_pos.y.value = val return animation_frame
[docs]def fr_z_handler(val, animation_frame): animation_frame.legs.fr.foot_pos.z.value = val return animation_frame
[docs]def hl_x_handler(val, animation_frame): animation_frame.legs.hl.foot_pos.x.value = val return animation_frame
[docs]def hl_y_handler(val, animation_frame): animation_frame.legs.hl.foot_pos.y.value = val return animation_frame
[docs]def hl_z_handler(val, animation_frame): animation_frame.legs.hl.foot_pos.z.value = val return animation_frame
[docs]def hr_x_handler(val, animation_frame): animation_frame.legs.hr.foot_pos.x.value = val return animation_frame
[docs]def hr_y_handler(val, animation_frame): animation_frame.legs.hr.foot_pos.y.value = val return animation_frame
[docs]def hr_z_handler(val, animation_frame): animation_frame.legs.hr.foot_pos.z.value = val return animation_frame
[docs]def body_x_handler(val, animation_frame): animation_frame.body.body_pos.x.value = val return animation_frame
[docs]def body_y_handler(val, animation_frame): animation_frame.body.body_pos.y.value = val return animation_frame
[docs]def body_z_handler(val, animation_frame): animation_frame.body.body_pos.z.value = val return animation_frame
[docs]def com_x_handler(val, animation_frame): animation_frame.body.com_pos.x.value = val return animation_frame
[docs]def com_y_handler(val, animation_frame): animation_frame.body.com_pos.y.value = val return animation_frame
[docs]def com_z_handler(val, animation_frame): animation_frame.body.com_pos.z.value = val return animation_frame
[docs]def body_quat_x_handler(val, animation_frame): animation_frame.body.quaternion.x = val return animation_frame
[docs]def body_quat_y_handler(val, animation_frame): animation_frame.body.quaternion.y = val return animation_frame
[docs]def body_quat_z_handler(val, animation_frame): animation_frame.body.quaternion.z = val return animation_frame
[docs]def body_quat_w_handler(val, animation_frame): animation_frame.body.quaternion.w = val return animation_frame
[docs]def body_roll_handler(val, animation_frame): animation_frame.body.euler_angles.roll.value = val return animation_frame
[docs]def body_pitch_handler(val, animation_frame): animation_frame.body.euler_angles.pitch.value = val return animation_frame
[docs]def body_yaw_handler(val, animation_frame): animation_frame.body.euler_angles.yaw.value = val return animation_frame
[docs]def body_pos_handler(vals, animation_frame): animation_frame.body.body_pos.x.value = vals[0] animation_frame.body.body_pos.y.value = vals[1] animation_frame.body.body_pos.z.value = vals[2] return animation_frame
[docs]def com_pos_handler(vals, animation_frame): animation_frame.body.com_pos.x.value = vals[0] animation_frame.body.com_pos.y.value = vals[1] animation_frame.body.com_pos.z.value = vals[2] return animation_frame
[docs]def body_euler_rpy_angles_handler(vals, animation_frame): animation_frame.body.euler_angles.roll.value = vals[0] animation_frame.body.euler_angles.pitch.value = vals[1] animation_frame.body.euler_angles.yaw.value = vals[2] return animation_frame
[docs]def body_quaternion_xyzw_handler(vals, animation_frame): animation_frame.body.quaternion.x = vals[0] animation_frame.body.quaternion.y = vals[1] animation_frame.body.quaternion.z = vals[2] animation_frame.body.quaternion.w = vals[3] return animation_frame
[docs]def body_quaternion_wxyz_handler(vals, animation_frame): animation_frame.body.quaternion.x = vals[1] animation_frame.body.quaternion.y = vals[2] animation_frame.body.quaternion.z = vals[3] animation_frame.body.quaternion.w = vals[0] return animation_frame
[docs]def leg_angles_handler(vals, animation_frame): animation_frame.legs.fl.joint_angles.hip_x = vals[0] animation_frame.legs.fl.joint_angles.hip_y = vals[1] animation_frame.legs.fl.joint_angles.knee = vals[2] animation_frame.legs.fr.joint_angles.hip_x = vals[3] animation_frame.legs.fr.joint_angles.hip_y = vals[4] animation_frame.legs.fr.joint_angles.knee = vals[5] animation_frame.legs.hl.joint_angles.hip_x = vals[6] animation_frame.legs.hl.joint_angles.hip_y = vals[7] animation_frame.legs.hl.joint_angles.knee = vals[8] animation_frame.legs.hr.joint_angles.hip_x = vals[9] animation_frame.legs.hr.joint_angles.hip_y = vals[10] animation_frame.legs.hr.joint_angles.knee = vals[11] return animation_frame
[docs]def foot_pos_handler(vals, animation_frame): animation_frame.legs.fl.foot_pos.x.value = vals[0] animation_frame.legs.fl.foot_pos.y.value = vals[1] animation_frame.legs.fl.foot_pos.z.value = vals[2] animation_frame.legs.fr.foot_pos.x.value = vals[3] animation_frame.legs.fr.foot_pos.y.value = vals[4] animation_frame.legs.fr.foot_pos.z.value = vals[5] animation_frame.legs.hl.foot_pos.x.value = vals[6] animation_frame.legs.hl.foot_pos.y.value = vals[7] animation_frame.legs.hl.foot_pos.z.value = vals[8] animation_frame.legs.hr.foot_pos.x.value = vals[9] animation_frame.legs.hr.foot_pos.y.value = vals[10] animation_frame.legs.hr.foot_pos.z.value = vals[11] return animation_frame
[docs]def contact_handler(vals, animation_frame): animation_frame.legs.fl.stance.value = vals[0] animation_frame.legs.fr.stance.value = vals[1] animation_frame.legs.hl.stance.value = vals[2] animation_frame.legs.hr.stance.value = vals[3] return animation_frame
[docs]def arm_joints_handler(vals, animation_frame): animation_frame.arm.joint_angles.shoulder_0.value = vals[0] animation_frame.arm.joint_angles.shoulder_1.value = vals[1] animation_frame.arm.joint_angles.elbow_0.value = vals[2] animation_frame.arm.joint_angles.elbow_1.value = vals[3] animation_frame.arm.joint_angles.wrist_0.value = vals[4] animation_frame.arm.joint_angles.wrist_1.value = vals[5] return animation_frame
[docs]def hand_x_handler(vals, animation_frame): animation_frame.arm.hand_pose.position.x = vals[0] return animation_frame
[docs]def hand_y_handler(vals, animation_frame): animation_frame.arm.hand_pose.position.y = vals[0] return animation_frame
[docs]def hand_z_handler(vals, animation_frame): animation_frame.arm.hand_pose.position.z = vals[0] return animation_frame
[docs]def hand_quat_x_handler(val, animation_frame): animation_frame.arm.hand_pose.quaternion.x = val return animation_frame
[docs]def hand_quat_y_handler(val, animation_frame): animation_frame.arm.hand_pose.quaternion.y = val return animation_frame
[docs]def hand_quat_z_handler(val, animation_frame): animation_frame.arm.hand_pose.quaternion.z = val return animation_frame
[docs]def hand_quat_w_handler(val, animation_frame): animation_frame.arm.hand_pose.quaternion.w = val return animation_frame
[docs]def hand_roll_handler(val, animation_frame): animation_frame.arm.hand_pose.euler_angles.roll.value = val return animation_frame
[docs]def hand_pitch_handler(val, animation_frame): animation_frame.arm.hand_pose.euler_angles.pitch.value = val return animation_frame
[docs]def hand_yaw_handler(val, animation_frame): animation_frame.arm.hand_pose.euler_angles.yaw.value = val return animation_frame
[docs]def hand_pos_handler(vals, animation_frame): animation_frame.arm.hand_pose.position.x.value = vals[0] animation_frame.arm.hand_pose.position.y.value = vals[1] animation_frame.arm.hand_pose.position.z.value = vals[2] return animation_frame
[docs]def hand_euler_rpy_angles_handler(vals, animation_frame): animation_frame.arm.hand_pose.euler_angles.roll.value = vals[0] animation_frame.arm.hand_pose.euler_angles.pitch.value = vals[1] animation_frame.arm.hand_pose.euler_angles.yaw.value = vals[2] return animation_frame
[docs]def hand_quaternion_xyzw_handler(vals, animation_frame): animation_frame.arm.hand_pose.quaternion.x = vals[0] animation_frame.arm.hand_pose.quaternion.y = vals[1] animation_frame.arm.hand_pose.quaternion.z = vals[2] animation_frame.arm.hand_pose.quaternion.w = vals[3] return animation_frame
[docs]def hand_quaternion_wxyz_handler(vals, animation_frame): animation_frame.arm.hand_pose.quaternion.x = vals[1] animation_frame.arm.hand_pose.quaternion.y = vals[2] animation_frame.arm.hand_pose.quaternion.z = vals[3] animation_frame.arm.hand_pose.quaternion.w = vals[0] return animation_frame
[docs]def controls_option(file_line_split, animation): for track in file_line_split: if track == "legs": animation.proto.controls_legs = True elif track == "arm": animation.proto.controls_arm = True elif track == "body": animation.proto.controls_body = True elif track == "gripper": animation.proto.controls_gripper = True elif track == "controls": continue else: print("Unknown track name %s" % track) return animation
[docs]def bpm_option(file_line_split, animation): bpm = file_line_split[1] animation.bpm = int(bpm) return animation
[docs]def extendable_option(file_line_split, animation): animation.proto.extendable = True return animation
[docs]def truncatable_option(file_line_split, animation): animation.proto.truncatable = True return animation
[docs]def neutral_start_option(file_line_split, animation): animation.proto.neutral_start = True return animation
[docs]def precise_steps_option(file_line_split, animation): animation.proto.precise_steps = True
[docs]def precise_timing_option(file_line_split, animation): animation.proto.precise_timing = True
[docs]def no_looping_option(file_line_split, animation): animation.proto.no_looping = True
[docs]def arm_required_option(file_line_split, animation): animation.proto.arm_required = True
[docs]def arm_prohibited_option(file_line_split, animation): animation.proto.arm_prohibited = True
[docs]def track_swing_trajectories_option(file_line_split, animation): animation.proto.track_swing_trajectories = True return animation
[docs]def assume_zero_roll_and_pitch_option(file_line_split, animation): animation.proto.assume_zero_roll_and_pitch = True return animation
[docs]def track_hand_rt_body_option(file_line_split, animation): animation.proto.track_hand_rt_body = True return animation
[docs]def track_hand_rt_feet_option(file_line_split, animation): animation.proto.track_hand_rt_feet = True return animation
[docs]def arm_playback_option(file_line_split, animation): playback = file_line_split[1] if playback == "jointspace": animation.proto.arm_playback = choreography_sequence_pb2.Animation.ARM_PLAYBACK_JOINTSPACE elif playback == "workspace": animation.proto.arm_playback = choreography_sequence_pb2.Animation.ARM_PLAYBACK_WORKSPACE elif playback == "workspace_dance_frame": animation.proto.arm_playback = choreography_sequence_pb2.Animation.ARM_PLAYBACK_WORKSPACE_DANCE_FRAME else: animation.proto.arm_playback = choreography_sequence_pb2.Animation.ARM_PLAYBACK_DEFAULT print("Unknown arm playbak option %s" % playback) return animation
[docs]def display_rgb_option(file_line_split, animation): for i in range(1, 3): animation.rgb[i - 1] = int(file_line_split[i]) return animation
[docs]def frequency_option(file_line_split, animation): freq = file_line_split[1] animation.frequency = float(freq) return animation
[docs]def retime_to_integer_slices_option(file_line_split, animation): animation.proto.retime_to_integer_slices = True return animation
[docs]def description_option(file_line_split, animation): description = " ".join(file_line_split[1:]) description = description.replace('"', '') # remove any quotation marks animation.description = description return animation