Choreography

For clients to use the choreography service

class bosdyn.choreography.client.choreography.ChoreographyClient[source]

Bases: bosdyn.client.common.BaseClient

Client for Choreography Service.

default_service_name = 'choreography'
service_type = 'bosdyn.api.spot.ChoreographyService'
update_from(other)[source]

Adopt key objects like processors, logger, and wallet from other.

property timesync_endpoint

Accessor for timesync-endpoint that was grabbed via ‘update_from()’.

list_all_moves(**kwargs)[source]

Get a list of the different choreography sequence moves and associated parameters.

list_all_moves_async(object_type=None, time_start_point=None, **kwargs)[source]

Async version of list_all_moves().

upload_choreography(choreography_seq, non_strict_parsing=True, **kwargs)[source]

Upload the choreography sequence to the robot.

upload_choreography_async(choreography_seq, non_strict_parsing=True, **kwargs)[source]

Async version of upload_choreography().

execute_choreography(choreography_name, client_start_time, choreography_starting_slice, lease=None, **kwargs)[source]

Execute the current choreography sequence loaded on the robot by name.

execute_choreography_async(choreography_name, client_start_time, choreography_starting_slice, lease=None, **kwargs)[source]

Async version of execute_choreography().

build_execute_choreography_request(choreography_name, client_start_time, choreography_starting_slice, lease=None)[source]

Generate the ExecuteChoreographyRequest rpc with the timestamp converted into robot time.

exception bosdyn.choreography.client.choreography.InvalidUploadedChoreographyError(response, error_message=None)[source]

Bases: bosdyn.client.exceptions.ResponseError

The uploaded choreography is invalid and unable to be performed.

exception bosdyn.choreography.client.choreography.RobotCommandIssuesError(response, error_message=None)[source]

Bases: bosdyn.client.exceptions.ResponseError

A problem occurred when issuing the robot command containing the dance.

exception bosdyn.choreography.client.choreography.LeaseError(response, error_message=None)[source]

Bases: bosdyn.client.exceptions.ResponseError

Incorrect or invalid leases for data acquisition. Check the lease use results.

bosdyn.choreography.client.choreography.load_choreography_sequence_from_binary_file(file_path)[source]

Read a choreography sequence file into a protobuf ChoreographySequence message.

bosdyn.choreography.client.choreography.load_choreography_sequence_from_txt_file(file_path)[source]
bosdyn.choreography.client.choreography.save_choreography_sequence_to_file(file_path, file_name, choreography)[source]

Saves a choreography sequence to a file.