grpc_client

Environment

• Python: 3.9.25

Setup

python -m pip install -r requirements.txt

Use the same Python interpreter you run the clients with. For example:

C:\Users\lgv\miniconda3\envs\grpc_client\python.exe -m pip install -r requirements.txt

Troubleshooting

If you encounter the following error:

qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in ".../site-packages/cv2/qt/plugins"

run:

pip uninstall opencv-python opencv-contrib-python -y
pip install opencv-python-headless

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.save_joint_to_csv
python -m clients.http_server
python -m clients.hlc_client

UI (PyQt)

python -m ui.app

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).
• Arm device_id defaults to right_arm. Use left_arm when controlling the left arm.
• UI parameters (host/port/device_id/interval) are set in the PyQt window and passed to the runner.