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.

• https://github.com/jpieper/pygazebo
• https://pypi.python.org/pypi/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!