BDDF data download

This example shows how to download data from GRPC logs and/or the data-buffer service as bddf data. The bddf format is a Boston Dynamics file format added to the SDK in 2.1.

Setup Dependencies

These examples need to be run with python3, and have the Spot SDK installed. See the requirements.txt file for a list of dependencies which can be installed with pip.

$ python3 -m pip install -r requirements.txt

Running the Examples

There are two primary scripts in this example. The first is bddf_download.py, which downloads specified data from a robot and saves it as a bddf file.

Another example script is bddf_read.py, which extracts and prints protobuf messages stored in a bddf file.

To see the types of messages currently supported by the script, run

$ python3 ./bddf_read.py types

To list the available series of messages in a given bddf file, try

$ python3 ./bddf_read.py series {bddf-file}

To extract and print all operator comment messages in a bddf file, run

$ python3 ./bddf_read.py show {bddf-file} bosdyn.api.OperatorComment

To show RobotId() GRPC request messages stored in a bddf file, use

$ python3 ./bddf_read.py show-grpc {bddf-file} bosdyn.api.RobotIdRequest

To run the script bddf_download.py in the example command lines below, we will use the following variables (Bourne-shell syntax):

USERNAME=<username>
PASSWORD=<password>
ROBOT_IP=<ip-address>

DOWNLOAD_BDDF="python3 bddf_download.py ${ROBOT_IP}"

Specifying time spans

To get a list of formats supported for specifying time spans for data selection in bddf_download.py:

$ python3 bddf_download.py ${ROBOT_IP} --help-timespan
A timespan is {val} or {val}-{val} where:

{val} has one of these formats:
 - yyyymmdd_hhmmss  (e.g., 20200120_120000)
 - yyyymmdd         (e.g., 20200120)
 -  {n}d    {n} days ago
 -  {n}h    {n} hours ago
 -  {n}m    {n} minutes ago
 -  {n}s    {n} seconds ago
 - nnnnnnnnnn[.nn]       (e.g., 1581869515.256)  Seconds since epoch
 - nnnnnnnnnnnnnnnnnnnn  Nanoseconds since epoch

For example:
  '5m'                    From 5 minutes ago until now.
  '20201107-20201108'     All of 2020/11/07.

Basic data download

Download all data from the last 5 minutes (the default time span). The data is saved to ./download.bddf by default.

$ ${DOWNLOAD_BDDF}

Operator comments

Download all operator comments sent to the data-buffer in last hour and save to comments.bddf.

$ ${DOWNLOAD_BDDF} --timespan 1h --type bosdyn.api.OperatorComment -o comments.bddf

Print the comments:

$ python3 ./bddf_read.py show comments.bddf bosdyn.api.OperatorComment

Events

Download all events from stored in the data-buffer on 2022/11/07, and save to events.bddf.

$ ${DOWNLOAD_BDDF} --timespan 20201107-20201108 --type bosdyn.api.Event -o events.bddf

Print the events.

$ python3 ./bddf_read.py show events.bddf bosdyn.api.Event

GRPC requests/responses

Download robot-id GRPC requests/responses from 20 minutes ago to 10 minutes ago, and store them in file robot-id.bddf.

$ ${DOWNLOAD_BDDF} --timespan 20m-10m --service robot-id -o robot-id.bddf

Print the request and response messages with

$ python3 ./bddf_read.py show-grpc robot-id.bddf bosdyn.api.RobotIdRequest
$ python3 ./bddf_read.py show-grpc robot-id.bddf bosdyn.api.RobotIdResponse

GUI

A graphical user interface is also available using bddf_download_gui.py. An additional PyQt5 dependency is required.

$ python3 -m pip install -r gui_requirements.txt

To run the example as a GUI:

$ python3 bddf_download_gui.py