4f7dfc2069
Will add GRPC client and PyBullet GRPC server plugin. Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages. Run the server, then test using the pybullet_client.py
29 lines
1.0 KiB
Python
29 lines
1.0 KiB
Python
"""The Python implementation of the PyBullet GRPC client."""
|
|
|
|
from __future__ import print_function
|
|
|
|
import grpc
|
|
|
|
import pybullet_pb2
|
|
import pybullet_pb2_grpc
|
|
|
|
|
|
def run():
|
|
channel = grpc.insecure_channel('localhost:50051')
|
|
stub = pybullet_pb2_grpc.PyBulletAPIStub(channel)
|
|
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(urdfFileName="plane.urdf", initialPosition=pybullet_pb2.vec3(x=0,y=0,z=0), useMultiBody=False, useFixedBase=True, globalScaling=2, urdfFlags = 1)))
|
|
print("PyBullet client received: " , response.statusType)
|
|
print("URDF objectid =", response.urdfStatus.objectUniqueId)
|
|
|
|
|
|
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(stepSimulationCommand=pybullet_pb2.StepSimulationCommand()))
|
|
print("PyBullet client received: " , response.statusType)
|
|
|
|
|
|
#response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(terminateServerCommand=pybullet_pb2.TerminateServerCommand()))
|
|
#print("PyBullet client received: " , response.statusType)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
run()
|