mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 13:20:07 +00:00
96 lines
3.5 KiB
Python
96 lines
3.5 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(
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pybullet_pb2.PyBulletCommand(checkVersionCommand=pybullet_pb2.CheckVersionCommand(
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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(
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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(
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pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(
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fileName="door.urdf",
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initialPosition=pybullet_pb2.vec3(x=0, y=0, z=0),
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useMultiBody=True,
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useFixedBase=True,
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globalScaling=2,
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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(
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pybullet_pb2.PyBulletCommand(loadSdfCommand=pybullet_pb2.LoadSdfCommand(
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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(
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pybullet_pb2.PyBulletCommand(loadMjcfCommand=pybullet_pb2.LoadMjcfCommand(
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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(
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pybullet_pb2.PyBulletCommand(changeDynamicsCommand=pybullet_pb2.ChangeDynamicsCommand(
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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(
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pybullet_pb2.PyBulletCommand(getDynamicsCommand=pybullet_pb2.GetDynamicsCommand(
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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(
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pybullet_pb2.PyBulletCommand(initPoseCommand=pybullet_pb2.InitPoseCommand(
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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(
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pybullet_pb2.
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PyBulletCommand(requestActualStateCommand=pybullet_pb2.RequestActualStateCommand(
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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(
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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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