mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
79 lines
3.3 KiB
Python
79 lines
3.3 KiB
Python
"""The Python implementation of the PyBullet GRPC client."""
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from __future__ import print_function
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import grpc
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import pybullet_pb2
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import pybullet_pb2_grpc
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#todo: how to add this?
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MJCF_COLORS_FROM_FILE = 512
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def run():
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print("grpc.insecure_channel")
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channel = grpc.insecure_channel('localhost:6667')
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print("pybullet_pb2_grpc.PyBulletAPIStub")
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stub = pybullet_pb2_grpc.PyBulletAPIStub(channel)
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response=0
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print("submit CheckVersionCommand")
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response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(checkVersionCommand=pybullet_pb2.CheckVersionCommand(clientVersion=123)))
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print("PyBullet client received: " , response)
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print("submit_ResetSimulationCommand")
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response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(resetSimulationCommand=pybullet_pb2.ResetSimulationCommand()))
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print("PyBullet client received: ", response)
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print("submit LoadUrdfCommand ")
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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)))
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print("PyBullet client received: " , response)
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bodyUniqueId = response.urdfStatus.bodyUniqueId
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print("submit LoadSdfCommand")
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response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadSdfCommand=pybullet_pb2.LoadSdfCommand(fileName="two_cubes.sdf", useMultiBody=True, globalScaling=2)))
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print("PyBullet client received: " , response)
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print("submit LoadMjcfCommand")
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response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadMjcfCommand=pybullet_pb2.LoadMjcfCommand(fileName="mjcf/humanoid.xml",flags=MJCF_COLORS_FROM_FILE)))
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print("PyBullet client received: " , response)
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print("submit ChangeDynamicsCommand ")
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response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(changeDynamicsCommand=pybullet_pb2.ChangeDynamicsCommand(bodyUniqueId=bodyUniqueId, linkIndex=-1, mass=10)))
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print("PyBullet client received: " , response)
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print("submit GetDynamicsCommand ")
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response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(getDynamicsCommand=pybullet_pb2.GetDynamicsCommand(bodyUniqueId=bodyUniqueId, linkIndex=-1)))
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print("PyBullet client received: " , response)
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print("submit InitPoseCommand")
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response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(initPoseCommand=pybullet_pb2.InitPoseCommand(bodyUniqueId=bodyUniqueId, initialStateQ=[1,2,3],hasInitialStateQ=[1,1,1])))
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print("PyBullet client received: " , response)
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print("submit RequestActualStateCommand")
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response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(requestActualStateCommand=pybullet_pb2.RequestActualStateCommand(bodyUniqueId=bodyUniqueId, computeForwardKinematics=True, computeLinkVelocities=True )))
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print("PyBullet client received: " , response)
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i=0
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while(True):
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i=i+1
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print("submit StepSimulationCommand: ", i)
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response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(stepSimulationCommand=pybullet_pb2.StepSimulationCommand()))
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print("PyBullet client received: " , response.statusType)
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#print("TerminateServerCommand")
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#response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(terminateServerCommand=pybullet_pb2.TerminateServerCommand()))
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#print("PyBullet client received: " , response.statusType)
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if __name__ == '__main__':
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run()
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