grpc_client/README.md

grpc_client

Environment

• Python: 3.9.25

Setup

pip install -r requirements.txt

Generate gRPC code

From repo root:

python scripts/gen_grpc_py.py

This reads .proto files under protos/ and writes Python code to generated/.

Run (module mode)

python -m clients.movej_client
python -m clients.get_joint_state_client
python -m clients.get_pose_client
python -m clients.torque_on_client
python -m clients.torque_off_client
python -m clients.torque_key_client
python -m clients.press_client
python -m clients.save_joint_to_csv
python -m clients.http_server

Runtime parameters

• gRPC server address/port: set in clients/base_client.py (default 192.168.0.222:50052).
• HTTP server host/port: set in clients/http_server.py (default 0.0.0.0:8000).
• device_id defaults to hc01 in most clients; change in code if needed.