This project is a simple gateway convert from gRPC to webots socket IPC API. It follow some rules.

• extern control
• synchronous simulation

graph LR

    A[Webots] <-->|API| B[Python extern controller gRPC service gateway]
    B <-->|gRPC| D[Python gRPC client app]
    B <-->|gRPC| C[CPP gRPC client app]

If you have no robot description file, descriptions folder offer some basic one.

uv run python -m grpc_tools.protoc -I ./protos --python_out=./generated --pyi_out=./generated --grpc_python_out=./generated ./protos/*.proto

or generate document by protoc-gen-doc plugin at the same time

uv run python -m grpc_tools.protoc -I ./protos --python_out=./generated --pyi_out=./generated --grpc_python_out=./generated --doc_out=./doc --doc_opt=html,index.html ./protos/*.proto

reflection tool to help you list service grpcurl -plaintext localhost:50051 list grpcurl -plaintext localhost:50051 describe device.DeviceService

export WEBOTS_HOME=/usr/local/webots
uv run "${WEBOTS_HOME}/webots-controller" --robot-name='Picker' ./webots_grpc/server.py

If you use MSYS2 as state, export WEBOTS_HOME=C:\Program Files\Webots

I don't find out way to integrate WEBOTS_HOME yet

Or using uv directly config python path,

; .env
PYTHONPATH=C:\Program Files\Webots\lib\controller\python

extern controller, e.g.

& "C:\Program Files\Webots\msys64\mingw64\bin\webots-controller.exe" --help

& "C:\Program Files\Webots\msys64\mingw64\bin\webots-controller.exe" --robot-name='IRB 4600/40' xxx.py

& "C:\Program Files\Webots\msys64\mingw64\bin\webots-controller.exe" --robot-name='Picker' picker_cntrl_gateway.py

uv run "C:\Program Files\Webots\msys64\mingw64\bin\webots-controller.exe" --robot-name='Picker' .\webots_grpc\server.py

uv run python -m tests.client

conan build . --build=missing

Aware that dependencies protobuf, grpc, abseil have to be static link, since protoc require static linked to work properly.

If you encounter validation error, following command will help you explicitly set shared to false.

conan build . --build=missing -o protobuf/*:shared=False -o grpc/*:shared=False -o abseil/*:shared=False