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more GRPC work

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This commit is contained in:
erwincoumans
2018-09-03 23:13:15 -07:00
parent 23e84ca9b6
commit 9e2f6c7935
21 changed files with 22906 additions and 780 deletions
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18
examples/SharedMemory/grpc/pybullet_client.py
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@@ -12,11 +12,23 @@ MJCF_COLORS_FROM_FILE = 512
def run():
print("grpc.insecure_channel")
channel = grpc.insecure_channel('localhost:50051')
channel = grpc.insecure_channel('localhost:6667')
print("pybullet_pb2_grpc.PyBulletAPIStub")
stub = pybullet_pb2_grpc.PyBulletAPIStub(channel)
response=0
print("submit CheckVersionCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(checkVersionCommand=pybullet_pb2.CheckVersionCommand(clientVersion=123)))
print("PyBullet client received: " , response)
print("submit LoadUrdfCommand ")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(fileName="door.urdf", initialPosition=pybullet_pb2.vec3(x=0,y=0,z=0), useMultiBody=True, useFixedBase=True, globalScaling=2, flags = 1)))
print("PyBullet client received: " , response)
bodyUniqueId = response.urdfStatus.bodyUniqueId
print("submit LoadSdfCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadSdfCommand=pybullet_pb2.LoadSdfCommand(fileName="two_cubes.sdf", useMultiBody=True, globalScaling=2)))
print("PyBullet client received: " , response)
@@ -27,10 +39,6 @@ def run():
print("PyBullet client received: " , response)
print("submit LoadUrdfCommand ")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(fileName="door.urdf", initialPosition=pybullet_pb2.vec3(x=0,y=0,z=0), useMultiBody=True, useFixedBase=True, globalScaling=2, flags = 1)))
print("PyBullet client received: " , response)
bodyUniqueId = response.urdfStatus.bodyUniqueId
print("submit ChangeDynamicsCommand ")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(changeDynamicsCommand=pybullet_pb2.ChangeDynamicsCommand(bodyUniqueId=bodyUniqueId, linkIndex=-1, mass=10)))