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PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo

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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
2018-06-02 13:40:08 -07:00
parent cb6b7a7c38
commit b6120e760a
16 changed files with 1257 additions and 29 deletions
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examples/pybullet/examples/userData.py Normal file
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import pybullet as pb
import time
from pybullet_utils import bullet_client
server = bullet_client.BulletClient(connection_mode=pb.GUI_SERVER)
print ("Connecting to bullet server")
CONNECTION_METHOD = pb.SHARED_MEMORY
client = bullet_client.BulletClient(connection_mode=CONNECTION_METHOD)
PLANE_PATH = "plane.urdf"
client.loadURDF(PLANE_PATH)
client.setGravity(0, 0, -10)
print ("Adding plane object")
plane_id = client.loadURDF(PLANE_PATH)
print ("Plane ID: %s" % plane_id)
print ("Adding user data to plane")
MyKey1 = client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
MyKey2 = client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
MyKey3 = client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
MyKey4 = client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
print ("Retrieving cached user data")
print (client.getUserData(plane_id, 0, MyKey1))
print (client.getUserData(plane_id, 0, MyKey2))
print (client.getUserData(plane_id, 0, MyKey3))
print (client.getUserData(plane_id, 0, MyKey4))
print ("Disconnecting")
del client
print ("Reconnecting")
client = bullet_client.BulletClient(connection_mode=CONNECTION_METHOD)
print ("Retrieving synced user data")
print (client.getUserData(plane_id, 0, MyKey1))
print (client.getUserData(plane_id, 0, MyKey2))
print (client.getUserData(plane_id, 0, MyKey3))
print (client.getUserData(plane_id, 0, MyKey4))
print ("Number of user data entries: %s" % client.getNumUserData(plane_id, 0))
print ("Overriding user data")
client.addUserData(plane_id, 0, "MyKey1", "MyNewValue")
print ("Cached overridden data")
print (client.getUserData(plane_id, 0, MyKey1))
print ("Disconnecting")
del client
print ("Reconnecting")
client = bullet_client.BulletClient(connection_mode=CONNECTION_METHOD)
print ("Synced overridden data")
print (client.getUserData(plane_id, 0, MyKey1))
print ("Getting user data ID")
print ("Retrieved ID: %s, ID retrieved from addUserData: %s" % (client.getUserDataId(plane_id, 0, "MyKey2"), MyKey2))
print ("Removing user data")
client.removeUserData(plane_id, 0, MyKey2)
print ("Retrieving cached removed data")
print (client.getUserData(plane_id, 0, MyKey2))
print ("Syncing")
client.syncUserData()
print ("Retrieving removed removed data")
print (client.getUserData(plane_id, 0, MyKey2))
print ("Iterating over all user data entries and printing results")
for i in range(client.getNumUserData(plane_id, 0)):
userDataId, key = client.getUserDataInfo(plane_id, 0, i)
print ("Info: (%s, %s)" % (userDataId, key))
print ("Value: %s" % client.getUserData(plane_id, 0, userDataId))
print ("Removing body")
client.removeBody(plane_id)
print ("Retrieving user data")
print (client.getUserData(plane_id, 0, MyKey1))
print (client.getUserData(plane_id, 0, MyKey3))
print (client.getUserData(plane_id, 0, MyKey4))
print ("Syncing")
client.syncUserData()
print ("Retrieving user data")
print (client.getUserData(plane_id, 0, MyKey1))
print (client.getUserData(plane_id, 0, MyKey3))
print (client.getUserData(plane_id, 0, MyKey4))
plane_id2 = client.loadURDF(PLANE_PATH)
print ("Plane1: %s, plane2: %s" % (plane_id, plane_id2))
print ("Retrieving user data")
print (client.getUserData(plane_id, 0, MyKey1))
print (client.getUserData(plane_id, 0, MyKey3))
print (client.getUserData(plane_id, 0, MyKey4))