111 lines
3.0 KiB
Python
111 lines
3.0 KiB
Python
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.SHARED_MEMORY_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, "MyKey1", "MyValue1")
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MyKey2 = client.addUserData(plane_id, "MyKey2", "MyValue2")
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MyKey3 = client.addUserData(plane_id, "MyKey3", "MyValue3")
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MyKey4 = client.addUserData(plane_id, "MyKey4", "MyValue4")
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print ("Retrieving cached user data")
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print (client.getUserData(MyKey1))
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print (client.getUserData(MyKey2))
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print (client.getUserData(MyKey3))
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print (client.getUserData(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(MyKey1))
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print (client.getUserData(MyKey2))
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print (client.getUserData(MyKey3))
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print (client.getUserData(MyKey4))
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print ("Number of user data entries: %s" % client.getNumUserData(plane_id))
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print ("Overriding user data")
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client.addUserData(plane_id, "MyKey1", "MyNewValue")
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print ("Cached overridden data")
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print (client.getUserData(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(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, "MyKey2"), MyKey2))
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print ("Removing user data")
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client.removeUserData(MyKey2)
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print ("Retrieving cached removed data")
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print (client.getUserData(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(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)):
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userDataId, key, bodyId, linkIndex, visualShapeIndex = client.getUserDataInfo(plane_id, i)
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print ("Info: (%s, %s, %s, %s, %s)" % (userDataId, key, bodyId, linkIndex, visualShapeIndex))
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print ("Value: %s" % client.getUserData(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(MyKey1))
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print (client.getUserData(MyKey3))
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print (client.getUserData(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(MyKey1))
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print (client.getUserData(MyKey3))
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print (client.getUserData(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(MyKey1))
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print (client.getUserData(MyKey3))
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print (client.getUserData(MyKey4))
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