I managed to clean up the python bindings to Gazebo I wrote when testing mech gaits in simulation, and have released them publicly as pygazebo.
All you have to do is:
pip install pygazebo
From the README, a simple example:
import eventlet from pygazebo import Manager manager = Manager() publisher = manager.advertise('/gazebo/default/model/joint_cmd', 'gazebo.msgs.JointCmd') message = pygazebo.msg.joint_cmd_pb2.JointCmd() message.axis = 0 message.force = 1.0 while True: publisher.publish(message) eventlet.sleep(1.0)
and you’re off and ready to code!