Animation File To Proto

A tool to convert animation files into protobuf messages which can be uploaded to the robot and used within choreography sequences.

exception bosdyn.choreography.client.animation_file_to_proto.AnimationFileFormatError[source]

Bases: Exception

Specific Exception raised when we identify a issue with an animation (*.cha) file.

class bosdyn.choreography.client.animation_file_to_proto.Animation[source]

Bases: object

Helper class to track values read from the animation file that are important to choreographer and necessary when uploading animated moves.

create_move_info_proto()[source]

Creates the MoveInfo protobuf message from the parsed animation file.

Returns:

The choreography_sequence.MoveInfo protobuf message for the animation as generated by the different animation fields in the Animation proto.

bosdyn.choreography.client.animation_file_to_proto.set_proto(proto_object, attribute_name, attribute_value)[source]

Helper function to set a field to a specific value in the protobuf message.

Parameters:

  • proto_object (Protobuf message) – Any generic protobuf message.

  • attribute_name (String) – The field name within the protobuf message.

  • attribute_value – A value with type matching the field type defined in the protobuf message definition. This will be saved in the attribute_name field.

Returns:

Nothing. Mutates the input proto_object to update the specified field name to the provided value.

bosdyn.choreography.client.animation_file_to_proto.handle_nested_double_value_params(proto_object, name, attribute_value)[source]

Helper function to set a field to a DoubleValue protobuf in a protobuf message.

Parameters:

  • proto_object (Protobuf message) – Any generic protobuf message.

  • name (String) – The field name within the protobuf message. This name should be both the field name and sub-field name separated by a period. For example, for the Vec3 velocity field, the name would be ‘velocity.x’.

  • attribute_value – A value with type matching the field type defined in the protobuf message definition. This will be saved in the attribute_name field.

Returns:

Nothing. Mutates the input proto_object to update the specified field name to the provided value.

bosdyn.choreography.client.animation_file_to_proto.read_animation_params(animation)[source]

Parses the set of lines that are the parameters section of the file.

Reads the parameter lines into the min/max/default values in the Animation proto.

Parameters:

animation (Animation) – The animation class structure containing the parameter lines.

Returns:

The mutated animation class, which now contains populated params fields in the animation’s protobuf.

bosdyn.choreography.client.animation_file_to_proto.read_and_find_animation_params(animate_move_params_file, filepath_input=True)[source]

Create a mapping of the parameter name to the default parameter values.

Parameters:

  • animate_move_params_file (string) – filepath to the default parameters file, or a string representing the contents of the parameters file.

  • filepath_input (boolean) – With filepath_input set to True, the animate_move_params_file argument will be interpreted as a file path to the default parameters file. When set to False, the animate_move_params_file argument will be read as the information in the default parameters file passed as a string.

Returns:

A dictionary containing the parameter name as the key, and the full parameter line from the file as the value.

bosdyn.choreography.client.animation_file_to_proto.convert_animation_file_to_proto(animated_file, animate_move_params_file='')[source]

Parses a file into the animation proto that will be uploaded to the robot.

Parameters:

  • animated_file (string) – The filepath to the animation text file.

  • animate_move_params_file (string) – [Optional] The filepath to a default set of move parameters.

Returns:

The Animation class, which contains the animation proto to be uploaded to the robot, as well as additional information to be used by Choreographer.

bosdyn.choreography.client.animation_file_to_proto.write_animation_to_dest(animation, destination)[source]

Write the new animation proto to a .cap file.

Parameters:

  • animation (Animation class) – The animation class object generated by the cha file conversion helpers to save the protobuf from.

  • destination (string) – The full filepath to the location to save the animation protobuf message.

bosdyn.choreography.client.animation_file_to_proto.main()[source]