PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo
See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide. Thanks to Tigran Gasparian for the contribution!
This commit is contained in:
erwincoumans
110
examples/pybullet/examples/userData.py
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110
examples/pybullet/examples/userData.py
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@@ -0,0 +1,110 @@
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import pybullet as pb
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import time
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from pybullet_utils import bullet_client
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server = bullet_client.BulletClient(connection_mode=pb.GUI_SERVER)
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print ("Connecting to bullet server")
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CONNECTION_METHOD = pb.SHARED_MEMORY
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client = bullet_client.BulletClient(connection_mode=CONNECTION_METHOD)
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PLANE_PATH = "plane.urdf"
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client.loadURDF(PLANE_PATH)
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client.setGravity(0, 0, -10)
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print ("Adding plane object")
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plane_id = client.loadURDF(PLANE_PATH)
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print ("Plane ID: %s" % plane_id)
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print ("Adding user data to plane")
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MyKey1 = client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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MyKey2 = client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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MyKey3 = client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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MyKey4 = client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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print ("Retrieving cached user data")
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print (client.getUserData(plane_id, 0, MyKey1))
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print (client.getUserData(plane_id, 0, MyKey2))
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print (client.getUserData(plane_id, 0, MyKey3))
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print (client.getUserData(plane_id, 0, MyKey4))
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print ("Disconnecting")
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del client
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print ("Reconnecting")
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client = bullet_client.BulletClient(connection_mode=CONNECTION_METHOD)
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print ("Retrieving synced user data")
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print (client.getUserData(plane_id, 0, MyKey1))
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print (client.getUserData(plane_id, 0, MyKey2))
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print (client.getUserData(plane_id, 0, MyKey3))
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print (client.getUserData(plane_id, 0, MyKey4))
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print ("Number of user data entries: %s" % client.getNumUserData(plane_id, 0))
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print ("Overriding user data")
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client.addUserData(plane_id, 0, "MyKey1", "MyNewValue")
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print ("Cached overridden data")
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print (client.getUserData(plane_id, 0, MyKey1))
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print ("Disconnecting")
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del client
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print ("Reconnecting")
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client = bullet_client.BulletClient(connection_mode=CONNECTION_METHOD)
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print ("Synced overridden data")
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print (client.getUserData(plane_id, 0, MyKey1))
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print ("Getting user data ID")
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print ("Retrieved ID: %s, ID retrieved from addUserData: %s" % (client.getUserDataId(plane_id, 0, "MyKey2"), MyKey2))
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print ("Removing user data")
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client.removeUserData(plane_id, 0, MyKey2)
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print ("Retrieving cached removed data")
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print (client.getUserData(plane_id, 0, MyKey2))
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print ("Syncing")
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client.syncUserData()
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print ("Retrieving removed removed data")
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print (client.getUserData(plane_id, 0, MyKey2))
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print ("Iterating over all user data entries and printing results")
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for i in range(client.getNumUserData(plane_id, 0)):
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userDataId, key = client.getUserDataInfo(plane_id, 0, i)
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print ("Info: (%s, %s)" % (userDataId, key))
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print ("Value: %s" % client.getUserData(plane_id, 0, userDataId))
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print ("Removing body")
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client.removeBody(plane_id)
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print ("Retrieving user data")
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print (client.getUserData(plane_id, 0, MyKey1))
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print (client.getUserData(plane_id, 0, MyKey3))
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print (client.getUserData(plane_id, 0, MyKey4))
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print ("Syncing")
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client.syncUserData()
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print ("Retrieving user data")
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print (client.getUserData(plane_id, 0, MyKey1))
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print (client.getUserData(plane_id, 0, MyKey3))
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print (client.getUserData(plane_id, 0, MyKey4))
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plane_id2 = client.loadURDF(PLANE_PATH)
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print ("Plane1: %s, plane2: %s" % (plane_id, plane_id2))
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print ("Retrieving user data")
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print (client.getUserData(plane_id, 0, MyKey1))
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print (client.getUserData(plane_id, 0, MyKey3))
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print (client.getUserData(plane_id, 0, MyKey4))
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@@ -487,6 +487,21 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
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sNumPhysicsClients++;
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return PyInt_FromLong(-1);
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}
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command = b3InitSyncUserDataCommand(sm);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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if (statusType != CMD_SYNC_USER_DATA_COMPLETED)
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{
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printf("Connection terminated, couldn't get user data\n");
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b3DisconnectSharedMemory(sm);
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sm = 0;
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sPhysicsClients1[freeIndex] = 0;
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sPhysicsClientsGUI[freeIndex] = 0;
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sNumPhysicsClients++;
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return PyInt_FromLong(-1);
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}
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}
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} else
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{
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@@ -635,6 +650,249 @@ static PyObject* pybullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject*
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return Py_None;
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}
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static PyObject* pybullet_syncUserData(PyObject* self, PyObject* args, PyObject* keywds)
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{
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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static char* kwlist[] = {"physicsClientId", NULL};
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b3SharedMemoryCommandHandle command;
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
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{
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return NULL;
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}
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sm = getPhysicsClient(physicsClientId);
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if (sm == 0)
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{
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PyErr_SetString(SpamError, "Not connected to physics server.");
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return NULL;
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}
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command = b3InitSyncUserDataCommand(sm);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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if (statusType != CMD_SYNC_USER_DATA_COMPLETED)
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{
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PyErr_SetString(SpamError, "Error in syncUserInfo command.");
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject* pybullet_addUserData(PyObject* self, PyObject* args, PyObject* keywds)
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{
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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int bodyUniqueId = -1;
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int linkIndex = -2;
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const char* key = "";
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const char* value = ""; // TODO: Change this to a PyObject and detect the type dynamically.
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static char* kwlist[] = {"bodyUniqueId", "linkIndex", "key", "value", "physicsClientId", NULL};
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b3SharedMemoryCommandHandle command;
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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int userDataId;
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int valueLen=-1;
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiss|i", kwlist, &bodyUniqueId, &linkIndex, &key, &value, &physicsClientId))
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{
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return NULL;
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}
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sm = getPhysicsClient(physicsClientId);
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if (sm == 0)
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{
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PyErr_SetString(SpamError, "Not connected to physics server.");
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return NULL;
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}
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valueLen = strlen(value)+1;
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command = b3InitAddUserDataCommand(sm, bodyUniqueId, linkIndex, key, USER_DATA_VALUE_TYPE_STRING, valueLen, value);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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if (statusType != CMD_ADD_USER_DATA_COMPLETED)
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{
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PyErr_SetString(SpamError, "Error in addUserData command.");
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return NULL;
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}
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userDataId = b3GetUserDataIdFromStatus(statusHandle);
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return PyInt_FromLong(userDataId);
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}
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static PyObject* pybullet_removeUserData(PyObject* self, PyObject* args, PyObject* keywds)
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{
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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int bodyUniqueId = -1;
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int linkIndex = -1;
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int userDataId = -1;
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static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataId", "physicsClientId", NULL};
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b3SharedMemoryCommandHandle command;
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b3SharedMemoryStatusHandle statusHandle;
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int statusType;
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataId, &physicsClientId))
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{
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return NULL;
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}
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sm = getPhysicsClient(physicsClientId);
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if (sm == 0)
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{
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PyErr_SetString(SpamError, "Not connected to physics server.");
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return NULL;
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}
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command = b3InitRemoveUserDataCommand(sm, bodyUniqueId, linkIndex, userDataId);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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if (statusType != CMD_REMOVE_USER_DATA_COMPLETED)
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{
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PyErr_SetString(SpamError, "Error in removeUserData command.");
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Py_RETURN_FALSE;
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}
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Py_RETURN_TRUE;
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}
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static PyObject* pybullet_getUserDataId(PyObject* self, PyObject* args, PyObject* keywds)
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{
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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int bodyUniqueId = -1;
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int linkIndex = -1;
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const char* key = "";
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int userDataId;
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static char* kwlist[] = {"bodyUniqueId", "linkIndex", "key", "physicsClientId", NULL};
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "iis|i", kwlist, &bodyUniqueId, &linkIndex, &key, &physicsClientId))
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{
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return NULL;
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}
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sm = getPhysicsClient(physicsClientId);
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if (sm == 0)
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{
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PyErr_SetString(SpamError, "Not connected to physics server.");
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return NULL;
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}
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userDataId = b3GetUserDataId(sm, bodyUniqueId, linkIndex, key);
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return PyInt_FromLong(userDataId);
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}
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static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject* keywds)
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{
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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int bodyUniqueId = -1;
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int linkIndex = -1;
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int userDataId = -1;
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static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataId", "physicsClientId", NULL};
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struct b3UserDataValue value;
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataId, &physicsClientId))
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{
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return NULL;
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}
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sm = getPhysicsClient(physicsClientId);
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if (sm == 0)
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{
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PyErr_SetString(SpamError, "Not connected to physics server.");
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return NULL;
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}
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if (!b3GetUserData(sm, bodyUniqueId, linkIndex, userDataId, &value)) {
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Py_RETURN_NONE;
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}
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switch (value.m_type) {
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case USER_DATA_VALUE_TYPE_STRING:
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return PyString_FromString((const char *)value.m_data1);
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default:
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PyErr_SetString(SpamError, "User data value has unknown type");
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return NULL;
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}
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}
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static PyObject* pybullet_getNumUserData(PyObject* self, PyObject* args, PyObject* keywds)
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{
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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int bodyUniqueId = -1;
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int linkIndex = -1;
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static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
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int numUserData;
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
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{
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return NULL;
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}
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sm = getPhysicsClient(physicsClientId);
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if (sm == 0)
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{
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PyErr_SetString(SpamError, "Not connected to physics server.");
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return NULL;
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}
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numUserData = b3GetNumUserData(sm, bodyUniqueId, linkIndex);
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return PyInt_FromLong(numUserData);
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}
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static PyObject* pybullet_getUserDataInfo(PyObject* self, PyObject* args, PyObject* keywds)
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{
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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int bodyUniqueId = -1;
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int linkIndex = -1;
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int userDataIndex = -1;
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static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataIndex", "physicsClientId", NULL};
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const char* key = 0;
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int userDataId = -1;
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataIndex, &physicsClientId))
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{
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return NULL;
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}
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sm = getPhysicsClient(physicsClientId);
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if (sm == 0)
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{
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PyErr_SetString(SpamError, "Not connected to physics server.");
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return NULL;
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}
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b3GetUserDataInfo(sm, bodyUniqueId, linkIndex, userDataIndex, &key, &userDataId);
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if (key == 0 || userDataId == -1) {
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PyErr_SetString(SpamError, "Could not get user data info.");
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Py_RETURN_NONE;
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}
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{
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PyObject *userDataInfoTuple = PyTuple_New(2);
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PyTuple_SetItem(userDataInfoTuple, 0, PyInt_FromLong(userDataId));
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PyTuple_SetItem(userDataInfoTuple, 1, PyString_FromString(key));
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return userDataInfoTuple;
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}
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}
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static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* keywds)
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{
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@@ -8827,6 +9085,34 @@ static PyMethodDef SpamMethods[] = {
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"syncBodyInfo(physicsClientId=0)\n"
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"Update body and constraint/joint information, in case other clients made changes."},
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{"syncUserData", (PyCFunction)pybullet_syncUserData, METH_VARARGS | METH_KEYWORDS,
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"syncUserData(physicsClientId=0)\n"
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"Update user data, in case other clients made changes."},
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{"addUserData", (PyCFunction)pybullet_addUserData, METH_VARARGS | METH_KEYWORDS,
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"addUserData(bodyUniqueId, linkIndex, key, value, physicsClientId=0)\n"
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"Adds or updates a user data entry to a link. Returns user data identifier."},
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{"getUserData", (PyCFunction)pybullet_getUserData, METH_VARARGS | METH_KEYWORDS,
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"getUserData(bodyUniqueId, linkIndex, userDataId, physicsClientId=0)\n"
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"Returns the user data value."},
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{"removeUserData", (PyCFunction)pybullet_removeUserData, METH_VARARGS | METH_KEYWORDS,
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"removeUserData(bodyUniqueId, linkIndex, userDataId, physicsClientId=0)\n"
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"Removes a user data entry."},
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{"getUserDataId", (PyCFunction)pybullet_getUserDataId, METH_VARARGS | METH_KEYWORDS,
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"getUserDataId(bodyUniqueId, linkIndex, key, physicsClientId=0)\n"
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"Retrieves the userDataId on a link given the key."},
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{"getNumUserData", (PyCFunction)pybullet_getNumUserData, METH_VARARGS | METH_KEYWORDS,
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"getNumUserData(bodyUniqueId, linkIndex, physicsClientId=0)\n"
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"Retrieves the number of user data entries in a link."},
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{"getUserDataInfo", (PyCFunction)pybullet_getUserDataInfo, METH_VARARGS | METH_KEYWORDS,
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"getUserDataInfo(bodyUniqueId, linkIndex, userDataIndex, physicsClientId=0)\n"
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"Retrieves the key and the identifier of a user data as (id, key)."},
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{"removeBody", (PyCFunction)pybullet_removeBody, METH_VARARGS | METH_KEYWORDS,
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"Remove a body by its body unique id."},
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