def load_choreography_sequence_from_txt_file(file_path):
if not os.path.exists(file_path):
LOGGER.error("File not found at: %s" % file_path)
raise IOError("File not found at: %s" % file_path)
choreography_sequence = choreography_sequence_pb2.ChoreographySequence()
with open(file_path, "r") as f:
data = f.read()
text_format.Merge(data, choreography_sequence)
return choreography_sequence
def load_choreography_sequence_from_binary_file(file_path):
"""Read a choreography sequence file into a protobuf ChoreographySequence message."""
if not os.path.exists(file_path):
LOGGER.error("File not found at: %s" % file_path)
raise IOError("File not found at: %s" % file_path)
choreography_sequence = choreography_sequence_pb2.ChoreographySequence()
with open(file_path, "rb") as f:
data = f.read()
choreography_sequence.ParseFromString(data)
return choreography_sequence
def proto_to_choreo(self, cha_filename):
"""Function for uploading the animation file as a protobuf to the robot and then turning the animation
into a choreography sequence which can then be played on the robot.
Args:
cha_filename (string): Name of the *.cha animation file to be uploaded to the robot.
Returns:
The animation protobuf name.
The choreography sequence containing the animation move described by the *.cha animation file.
"""
# path to the *.cha animation file to be uploaded
fpath = os.path.join(self._download_filepath, self._animation_directory)
animated_file = os.path.join(fpath, cha_filename)
# use the *.cha animation file to create an animation protobuf file. convert_animation_file_to_proto can take a second
# optional argument for a filepath to a file containing the default values for animation parameter fields, but Animation
# Recorder doesn't produce any animations that have parameter fields so only the *.cha animation file is needed.
animation = convert_animation_file_to_proto(animated_file)
#upload the created animation protobuf to the robot
self._upload_animation_proto(animation)
# turn animation into a choreography sequence:
# initialize a ChoreographySequence object
choreography_seq = choreography_sequence_pb2.ChoreographySequence()
# assign the ChoreographySequence name to be the animation protobuf name
choreography_seq.name = animation.name
# assign the playback speed of the choreography sequence
choreography_seq.slices_per_minute = 200 * 4
# the MoveParamsList will contain the list of moves making up the choreography sequence. For Animation Recorder
# the choreography sequences are one move long, where the move is the motion captured by the recording.
MoveParamsList = []
move_param = choreography_sequence_pb2.MoveParams()
move_param.type = "animation"
# start the move immediately with no delay
move_param.start_slice = 0
# calculate the expected duration of the move in slices by multiplying the duration of the animation in minutes by the
# number of slices per minute of the created choreography sequence.
move_param.requested_slices = math.ceil(((animation.proto.animation_keyframes[-1].time -
animation.proto.animation_keyframes[0].time)/ 60) * choreography_seq.slices_per_minute)
# assign the move the name of the animation protobuf
move_param.animate_params.animation_name = animation.name
# add the move to the list of moves
MoveParamsList.append(move_param)
# add the list of moves to the choreography sequence
choreography_seq.moves.extend(MoveParamsList)
# upload the choreography sequence to the robot
upload_response = self._choreo_client.upload_choreography(choreography_seq, non_strict_parsing=True)
# return the animation protobuf and choreography sequence
return animation, choreography_seq