This release is a pre-release and may not be stable for production use.
vention-sim-grpc-py-sdk
Generated Python gRPC clients for the Vention simulation protos (physics/** and
vention/simulation/** under libs/proto/), published from this repo.
Install
pip install vention-sim-grpc-py-sdk
This also installs vention-grpc-py-sdk,
which ships the vention.robots, vention.io_modules, vention.machine_motion,
vention.motors, vention.vision, and google.type messages the simulation protos embed.
Use
import grpc
from vention.robots.v1.joint_trajectory_point_pb2 import JointTrajectoryPoint
from vention_sim import SIMULATION_SHA, VENTION_PROTOS_SHA, __version__
from vention_sim.simulation.v1.sim_robot_driver_commands_pb2 import StartTrajectoryRequest
from vention_sim.simulation.v4.scene.scene_management_service_pb2_grpc import SceneManagementServiceStub
channel = grpc.insecure_channel("localhost:50055")
scene = SceneManagementServiceStub(channel)
request = StartTrajectoryRequest(points=[JointTrajectoryPoint()])
print(f"built from simulation@{SIMULATION_SHA} and vention-protos@{VENTION_PROTOS_SHA}")
Import root
The modules live under vention_sim: a proto at vention/simulation/v1/x.proto is
vention_sim.simulation.v1.x_pb2, and one at physics/v3/x.proto is
vention_sim.physics.v3.x_pb2. Only the Python import path differs from protoc's default.
The proto packages (vention.simulation.*, physics.*), file names, gRPC method paths and
Any type URLs are unchanged, so a vention-grpc-py-sdk message drops straight into a
simulation request and reflection sees the same types as every other language.
protoc would otherwise place the stubs at vention.simulation.*, inside the vention
package that vention-grpc-py-sdk owns. Two distributions sharing a regular package only
work while both unpack into the same site-packages; editable installs and any layout with
more than one root on sys.path lose one of them. Giving this package its own import root
removes the shared directory, so it works in every layout and never depends on how
vention-grpc-py-sdk is laid out.
One package per proto source
The simulation protos import vention-protos files, and both packages have to coexist in
one environment. Python leaves no good way to ship two copies of the same generated module:
two distributions writing the same path overwrite each other in site-packages, and protobuf
registers every message in a process-global pool that rejects duplicates. So this package
ships only the simulation-owned stubs and takes the shared ones from vention-grpc-py-sdk,
the same way grpcio-status takes google.rpc from googleapis-common-protos.
The dependency is vention-grpc-py-sdk>=<release>, the release generated from the
vention-protos commit pinned in libs/proto/package.json
(config.protos.tag). The stubs need every proto that commit ships, and later releases keep
them, so a lower bound is enough. It also lets a project pin a newer release, or the
<next release>.devN build an open vention-protos-clients PR publishes, next to this
package. Older releases and dev builds still conflict, since they may predate protos the
stubs import.
Versions
Releases publish on every push to main that touches libs/proto/** or libs/python-sdk/**, as the
next patch after the latest release on PyPI. Pull requests touching those paths, and manual runs
of the workflow on any other branch, publish a X.Y.Z.dev<build id> build (PRs get the install
command as a comment). Once a release exists, pip only installs a dev build when its version
is spelled out.
vention_sim._source records what a wheel was built from: SIMULATION_SHA (the PR head for
dev builds), VENTION_PROTOS_SHA, VENTION_GRPC_PY_SDK_VERSION, and __version__.
Contributing
Nothing in libs/python-sdk/src is committed; CI regenerates it from libs/proto/ before publishing.
The NX targets need python3 and create libs/python-sdk/.venv themselves:
pnpm install # buf comes from the proto workspace
pnpm nx run python-sdk:generate # stubs only; cached
pnpm nx run python-sdk:check # the stubs compile; cached
pnpm nx run python-sdk:build # stamp, build and validate the wheel, as CI does
generate depends on proto:export, which exports the vendored vention-protos at the pinned
commit into libs/proto/.vendor/ (SSH access to VentionCo/vention-protos required). It then
generates the stubs with buf.gen.yaml and mypy-protobuf, pinned exactly in
project.json because its output ships in the wheel, moves them under
vention_sim and rewrites their imports and module names to match. Its output depends only on
the protos and the generator versions, so NX caches it.
build runs ci_python_package.py and is never cached: it
resolves the matching vention-grpc-py-sdk release from PyPI and the version to publish, stamps
them with the source SHAs into vention_sim/_source.py, builds the wheel, installs it together
with that release, and runs check_installed_wheel.py: the
wheel requires at least the SDK release whose PROTOS_SHA equals the pin, every generated module
imports, every generated message class belongs to its vention_sim module and pickles, a sim
message keeps its proto package, file name, method path and Any type URL, and a
vention-grpc-py-sdk message embeds into a sim request. Both import orders are then tried in
fresh interpreters.
hatch_build.py turns the resolved SDK release into the dependency's lower bound at build time.
publish-python-sdk.yml runs build, then
pnpm nx run python-sdk:publish, which uploads the built dist/ with the org's PyPI token.
1 maintainer
Metadata
1 maintainer
Release files for vention-sim-grpc-py-sdk 0.1.20.dev3930208268401
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