more GRPC work
This commit is contained in:
erwincoumans
@@ -24,6 +24,7 @@ message vec3
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double z=3;
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};
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message quat4
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{
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double x=1;
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@@ -32,6 +33,38 @@ message quat4
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double w=4;
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};
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message vec4
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{
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double x=1;
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double y=2;
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double z=3;
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double w=4;
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};
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message transform
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{
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vec3 origin=1;
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quat4 orientation=2;
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};
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message matrix4x4
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{
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//assume 16 elements, with translation in 12,13,14,
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//'right' vector is elements 0,1,3 and 4
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repeated double elems=1;
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};
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message CheckVersionCommand
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{
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int32 clientVersion=1;
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};
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message CheckVersionStatus
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{
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int32 serverVersion=1;
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};
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message TerminateServerCommand
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{
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@@ -42,6 +75,31 @@ message StepSimulationCommand
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{
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};
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message SyncBodiesCommand
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{
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};
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message SyncBodiesStatus
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{
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repeated int32 bodyUniqueIds=1;
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repeated int32 userConstraintUniqueIds=2;
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};
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message RequestBodyInfoCommand
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{
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int32 bodyUniqueId=1;
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};
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message RequestBodyInfoStatus
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{
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int32 bodyUniqueId=1;
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string bodyName=2;
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};
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message LoadUrdfCommand {
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string fileName=1;
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vec3 initialPosition=2;
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@@ -54,8 +112,11 @@ message LoadUrdfCommand {
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oneof hasGlobalScaling { double globalScaling=7;
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}
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};
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message LoadUrdfStatus {
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int32 bodyUniqueId=1;
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string bodyName=2;
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string fileName=3;
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}
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@@ -133,10 +194,11 @@ message GetDynamicsStatus
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message InitPoseCommand
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{
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int32 bodyUniqueId=1;
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repeated int32 hasInitialStateQ=2;
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repeated double initialStateQ=3;
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repeated int32 hasInitialStateQdot=4;
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repeated double initialStateQdot=5;
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int32 updateflags=2;
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repeated int32 hasInitialStateQ=3;
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repeated double initialStateQ=4;
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repeated int32 hasInitialStateQdot=5;
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repeated double initialStateQdot=6;
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};
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@@ -147,6 +209,7 @@ message RequestActualStateCommand
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bool computeLinkVelocities=3;
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};
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message SendActualStateStatus
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{
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int32 bodyUniqueId=1;
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@@ -171,37 +234,230 @@ message SendActualStateStatus
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};
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message ConfigureOpenGLVisualizerCommand
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{
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int32 updateFlags=1;
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double cameraDistance=2;
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double cameraPitch=3;
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double cameraYaw=4;
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vec3 cameraTargetPosition=5;
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int32 setFlag=6;
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int32 setEnabled=7;
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};
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message PhysicsSimulationParameters
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{
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double deltaTime=1;
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vec3 gravityAcceleration=2;
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int32 numSimulationSubSteps=3;
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int32 numSolverIterations=4;
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int32 useRealTimeSimulation=5;
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int32 useSplitImpulse=6;
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double splitImpulsePenetrationThreshold=7;
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double contactBreakingThreshold=8;
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int32 internalSimFlags=9;
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double defaultContactERP=10;
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int32 collisionFilterMode=11;
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int32 enableFileCaching=12;
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double restitutionVelocityThreshold=13;
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double defaultNonContactERP=14;
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double frictionERP=15;
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double defaultGlobalCFM=16;
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double frictionCFM=17;
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int32 enableConeFriction=18;
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int32 deterministicOverlappingPairs=19;
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double allowedCcdPenetration=20;
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int32 jointFeedbackMode=21;
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double solverResidualThreshold=22;
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double contactSlop=23;
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int32 enableSAT=24;
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int32 constraintSolverType=25;
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int32 minimumSolverIslandSize=26;
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};
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message PhysicsSimulationParametersCommand
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{
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int32 updateFlags=1;
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PhysicsSimulationParameters params=2;
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};
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message JointMotorControlCommand
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{
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int32 bodyUniqueId=1;
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int32 controlMode=2;
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int32 updateFlags=3;
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//PD parameters in case controlMode == CONTROL_MODE_POSITION_VELOCITY_PD
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repeated double Kp=4;//indexed by degree of freedom, 6 for base, and then the dofs for each link
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repeated double Kd=5;//indexed by degree of freedom, 6 for base, and then the dofs for each link
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repeated double maxVelocity=6;
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repeated int32 hasDesiredStateFlags=7;
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//desired state is only written by the client, read-only access by server is expected
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//desiredStateQ is indexed by position variables,
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//starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables
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repeated double desiredStateQ=8;
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//desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables
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repeated double desiredStateQdot=9;
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//desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
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//or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
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//indexed by degree of freedom, 6 dof base, and then dofs for each link
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repeated double desiredStateForceTorque=10;
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};
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message UserConstraintCommand
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{
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int32 parentBodyIndex=1;
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int32 parentJointIndex=2;
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int32 childBodyIndex=3;
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int32 childJointIndex=4;
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transform parentFrame=5;
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transform childFrame=6;
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vec3 jointAxis=7;
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int32 jointType=8;
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double maxAppliedForce=9;
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int32 userConstraintUniqueId=10;
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double gearRatio=11;
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int32 gearAuxLink=12;
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double relativePositionTarget=13;
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double erp=14;
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int32 updateFlags=15;
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};
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message UserConstraintStatus
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{
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double maxAppliedForce=9;
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int32 userConstraintUniqueId=10;
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};
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message UserConstraintStateStatus
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{
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vec3 appliedConstraintForcesLinear=1;
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vec3 appliedConstraintForcesAngular=2;
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int32 numDofs=3;
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};
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message RequestKeyboardEventsCommand
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{
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};
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message KeyboardEvent
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{
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int32 keyCode=1;//ascii
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int32 keyState=2;// see b3VRButtonInfo
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};
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message KeyboardEventsStatus
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{
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repeated KeyboardEvent keyboardEvents=1;
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};
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message RequestCameraImageCommand
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{
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int32 updateFlags=1;
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int32 cameraFlags=2;
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matrix4x4 viewMatrix=3;
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matrix4x4 projectionMatrix=4;
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int32 startPixelIndex=5;
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int32 pixelWidth=6;
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int32 pixelHeight=7;
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vec3 lightDirection=8;
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vec3 lightColor=9;
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double lightDistance=10;
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double lightAmbientCoeff=11;
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double lightDiffuseCoeff=12;
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double lightSpecularCoeff=13;
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int32 hasShadow=14;
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matrix4x4 projectiveTextureViewMatrix=15;
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matrix4x4 projectiveTextureProjectionMatrix=16;
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};
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message RequestCameraImageStatus
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{
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int32 imageWidth=1;
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int32 imageHeight=2;
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int32 startingPixelIndex=3;
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int32 numPixelsCopied=4;
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int32 numRemainingPixels=5;
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};
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// The request message containing the command
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message PyBulletCommand {
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int32 commandType=1;
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repeated bytes binaryBlob=2;
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repeated bytes unknownCommandBinaryBlob=3;
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oneof commands {
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LoadUrdfCommand loadUrdfCommand = 3;
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TerminateServerCommand terminateServerCommand=4;
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StepSimulationCommand stepSimulationCommand= 5;
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LoadSdfCommand loadSdfCommand=6;
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LoadMjcfCommand loadMjcfCommand=7;
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ChangeDynamicsCommand changeDynamicsCommand=8;
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GetDynamicsCommand getDynamicsCommand=9;
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InitPoseCommand initPoseCommand=10;
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RequestActualStateCommand requestActualStateCommand=11;
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LoadUrdfCommand loadUrdfCommand = 4;
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TerminateServerCommand terminateServerCommand=5;
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StepSimulationCommand stepSimulationCommand= 6;
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LoadSdfCommand loadSdfCommand=7;
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LoadMjcfCommand loadMjcfCommand=8;
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ChangeDynamicsCommand changeDynamicsCommand=9;
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GetDynamicsCommand getDynamicsCommand=10;
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InitPoseCommand initPoseCommand=11;
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RequestActualStateCommand requestActualStateCommand=12;
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ConfigureOpenGLVisualizerCommand configureOpenGLVisualizerCommand =13;
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SyncBodiesCommand syncBodiesCommand=14;
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RequestBodyInfoCommand requestBodyInfoCommand=15;
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PhysicsSimulationParametersCommand setPhysicsSimulationParametersCommand=16;
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JointMotorControlCommand jointMotorControlCommand=17;
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UserConstraintCommand userConstraintCommand=18;
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CheckVersionCommand checkVersionCommand=19;
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RequestKeyboardEventsCommand requestKeyboardEventsCommand=20;
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RequestCameraImageCommand requestCameraImageCommand=21;
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}
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}
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// The response message containing the status
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message PyBulletStatus {
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int32 statusType=1;
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repeated bytes binaryBlob=2;
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repeated bytes unknownStatusBinaryBlob=3;
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oneof status
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{
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LoadUrdfStatus urdfStatus = 2;
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SdfLoadedStatus sdfStatus = 3;
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MjcfLoadedStatus mjcfStatus = 4;
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GetDynamicsStatus getDynamicsStatus = 5;
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SendActualStateStatus actualStateStatus = 6;
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LoadUrdfStatus urdfStatus = 4;
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SdfLoadedStatus sdfStatus = 5;
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MjcfLoadedStatus mjcfStatus = 6;
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GetDynamicsStatus getDynamicsStatus = 7;
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SendActualStateStatus actualStateStatus = 8;
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SyncBodiesStatus syncBodiesStatus=9;
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RequestBodyInfoStatus requestBodyInfoStatus = 10;
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PhysicsSimulationParameters requestPhysicsSimulationParametersStatus=11;
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CheckVersionStatus checkVersionStatus=12;
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UserConstraintStatus userConstraintStatus=13;
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UserConstraintStateStatus userConstraintStateStatus=14;
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KeyboardEventsStatus keyboardEventsStatus=15;
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RequestCameraImageStatus requestCameraImageStatus=16;
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}
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}
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