Changes UserData to use global identifiers and makes linkIndex optional.
This removes the need to specify the body id/link index when retrieving a user data entry. Additionally, user data can now optionally be set to visual shapes as well. The following public pybullet APIs have changed (backwards incompatible) addUserData and getUserDataId Makes linkIndex parameter optional (default value is -1) Adds optional visualShapeIndex parameter (default value is -1) getUserData and removeUserData Removes required parameters bodyUniqueId and linkIndex getNumUserData Removes required bodyUniqueId parameter getUserDataInfo Removes required linkIndex parameter Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
This commit is contained in:
Tigran Gasparian
@@ -26,169 +26,170 @@ class TestUserDataMethods(unittest.TestCase):
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def testAddUserData(self):
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plane_id = self.client.loadURDF(PLANE_PATH)
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uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
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# Retrieve user data and make sure it's correct.
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self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
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self.assertEqual(b"MyValue2", self.client.getUserData(plane_id, 0, uid2))
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self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
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self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
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self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
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self.assertEqual(b"MyValue2", self.client.getUserData(uid2))
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self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
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self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
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# Disconnect/reconnect and make sure that the user data is synced back.
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del self.client
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self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
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self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
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self.assertEqual(b"MyValue2", self.client.getUserData(plane_id, 0, uid2))
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self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
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self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
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self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
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self.assertEqual(b"MyValue2", self.client.getUserData(uid2))
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self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
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self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
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self.client.resetSimulation()
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4))
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self.assertEqual(None, self.client.getUserData(uid1))
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self.assertEqual(None, self.client.getUserData(uid2))
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self.assertEqual(None, self.client.getUserData(uid3))
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self.assertEqual(None, self.client.getUserData(uid4))
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def testGetNumUserData(self):
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plane_id = self.client.loadURDF(PLANE_PATH)
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uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
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self.assertEqual(4, self.client.getNumUserData(plane_id, 0))
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self.assertEqual(4, self.client.getNumUserData(plane_id))
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del self.client
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self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
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self.assertEqual(4, self.client.getNumUserData(plane_id, 0))
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self.assertEqual(4, self.client.getNumUserData(plane_id))
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def testReplaceUserData(self):
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plane_id = self.client.loadURDF(PLANE_PATH)
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uid = self.client.addUserData(plane_id, 0, "MyKey", "MyValue")
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uid = self.client.addUserData(plane_id, "MyKey", "MyValue")
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self.assertEqual(b"MyValue", self.client.getUserData(plane_id, 0, uid))
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self.assertEqual(b"MyValue", self.client.getUserData(uid))
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new_uid = self.client.addUserData(plane_id, 0, "MyKey", "MyNewValue")
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new_uid = self.client.addUserData(plane_id, "MyKey", "MyNewValue")
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self.assertEqual(uid, new_uid)
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self.assertEqual(b"MyNewValue", self.client.getUserData(plane_id, 0, uid))
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self.assertEqual(b"MyNewValue", self.client.getUserData(uid))
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del self.client
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self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
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self.assertEqual(b"MyNewValue", self.client.getUserData(plane_id, 0, uid))
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self.assertEqual(b"MyNewValue", self.client.getUserData(uid))
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def testGetUserDataId(self):
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plane_id = self.client.loadURDF(PLANE_PATH)
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uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
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self.assertEqual(uid1, self.client.getUserDataId(plane_id, 0, "MyKey1"))
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self.assertEqual(uid2, self.client.getUserDataId(plane_id, 0, "MyKey2"))
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self.assertEqual(uid3, self.client.getUserDataId(plane_id, 0, "MyKey3"))
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self.assertEqual(uid4, self.client.getUserDataId(plane_id, 0, "MyKey4"))
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self.assertEqual(uid1, self.client.getUserDataId(plane_id, "MyKey1"))
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self.assertEqual(uid2, self.client.getUserDataId(plane_id, "MyKey2"))
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self.assertEqual(uid3, self.client.getUserDataId(plane_id, "MyKey3"))
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self.assertEqual(uid4, self.client.getUserDataId(plane_id, "MyKey4"))
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del self.client
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self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
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self.assertEqual(uid1, self.client.getUserDataId(plane_id, 0, "MyKey1"))
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self.assertEqual(uid2, self.client.getUserDataId(plane_id, 0, "MyKey2"))
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self.assertEqual(uid3, self.client.getUserDataId(plane_id, 0, "MyKey3"))
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self.assertEqual(uid4, self.client.getUserDataId(plane_id, 0, "MyKey4"))
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self.assertEqual(uid1, self.client.getUserDataId(plane_id, "MyKey1"))
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self.assertEqual(uid2, self.client.getUserDataId(plane_id, "MyKey2"))
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self.assertEqual(uid3, self.client.getUserDataId(plane_id, "MyKey3"))
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self.assertEqual(uid4, self.client.getUserDataId(plane_id, "MyKey4"))
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def testRemoveUserData(self):
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plane_id = self.client.loadURDF(PLANE_PATH)
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uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
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self.client.removeUserData(plane_id, 0, uid2)
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self.client.removeUserData(uid2)
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self.assertEqual(3, self.client.getNumUserData(plane_id, 0))
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self.assertEqual(-1, self.client.getUserDataId(plane_id, 0, "MyKey2"))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
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self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
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self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
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self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
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self.assertEqual(3, self.client.getNumUserData(plane_id))
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self.assertEqual(-1, self.client.getUserDataId(plane_id, "MyKey2"))
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self.assertEqual(None, self.client.getUserData(uid2))
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self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
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self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
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self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
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del self.client
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self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
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self.assertEqual(3, self.client.getNumUserData(plane_id, 0))
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self.assertEqual(-1, self.client.getUserDataId(plane_id, 0, "MyKey2"))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
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self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
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self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
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self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
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self.assertEqual(3, self.client.getNumUserData(plane_id))
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self.assertEqual(-1, self.client.getUserDataId(plane_id, "MyKey2"))
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self.assertEqual(None, self.client.getUserData(uid2))
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self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
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self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
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self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
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def testIterateAllUserData(self):
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plane_id = self.client.loadURDF(PLANE_PATH)
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uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
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entries = set()
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for i in range(self.client.getNumUserData(plane_id, 0)):
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userDataId, key = self.client.getUserDataInfo(plane_id, 0, i)
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value = self.client.getUserData(plane_id, 0, userDataId);
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entries.add((userDataId, key, value))
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for i in range(self.client.getNumUserData(plane_id)):
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userDataId, key, bodyId, linkIndex, visualShapeIndex = self.client.getUserDataInfo(plane_id, i)
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value = self.client.getUserData(userDataId);
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entries.add((userDataId, key, value, bodyId, linkIndex, visualShapeIndex))
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self.assertTrue((uid1, b"MyKey1", b"MyValue1") in entries)
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self.assertTrue((uid2, b"MyKey2", b"MyValue2") in entries)
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self.assertTrue((uid3, b"MyKey3", b"MyValue3") in entries)
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self.assertTrue((uid4, b"MyKey4", b"MyValue4") in entries)
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self.assertTrue((uid1, b"MyKey1", b"MyValue1", plane_id, -1, -1) in entries)
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self.assertTrue((uid2, b"MyKey2", b"MyValue2", plane_id, -1, -1) in entries)
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self.assertTrue((uid3, b"MyKey3", b"MyValue3", plane_id, -1, -1) in entries)
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self.assertTrue((uid4, b"MyKey4", b"MyValue4", plane_id, -1, -1) in entries)
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self.assertEqual(4, len(entries))
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def testRemoveBody(self):
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plane_id = self.client.loadURDF(PLANE_PATH)
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uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
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uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
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uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
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uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
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self.client.removeBody(plane_id)
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4))
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self.assertEqual(None, self.client.getUserData(uid1))
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self.assertEqual(None, self.client.getUserData(uid2))
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self.assertEqual(None, self.client.getUserData(uid3))
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self.assertEqual(None, self.client.getUserData(uid4))
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del self.client
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self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3))
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self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4))
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self.assertEqual(None, self.client.getUserData(uid1))
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self.assertEqual(None, self.client.getUserData(uid2))
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self.assertEqual(None, self.client.getUserData(uid3))
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self.assertEqual(None, self.client.getUserData(uid4))
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def testMultipleBodies(self):
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plane1 = self.client.loadURDF(PLANE_PATH)
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plane2 = self.client.loadURDF(PLANE_PATH)
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uid1 = self.client.addUserData(plane1, 0, "MyKey1", "This is plane 1 - 1")
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uid2 = self.client.addUserData(plane1, 0, "MyKey2", "This is plane 1 - 2")
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uid1 = self.client.addUserData(plane1, "MyKey1", "This is plane 1 - 1")
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uid2 = self.client.addUserData(plane1, "MyKey2", "This is plane 1 - 2")
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uid3 = self.client.addUserData(plane2, 0, "MyKey1", "This is plane 2 - 1")
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uid4 = self.client.addUserData(plane2, 0, "MyKey2", "This is plane 2 - 2")
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uid5 = self.client.addUserData(plane2, 0, "MyKey3", "This is plane 2 - 3")
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uid3 = self.client.addUserData(plane2, "MyKey1", "This is plane 2 - 1")
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uid4 = self.client.addUserData(plane2, "MyKey2", "This is plane 2 - 2")
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uid5 = self.client.addUserData(plane2, "MyKey3", "This is plane 2 - 3")
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self.assertEqual(b"This is plane 1 - 1", self.client.getUserData(plane1, 0, self.client.getUserDataId(plane1, 0, "MyKey1")))
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self.assertEqual(b"This is plane 1 - 2", self.client.getUserData(plane1, 0, self.client.getUserDataId(plane1, 0, "MyKey2")))
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self.assertEqual(b"This is plane 1 - 1", self.client.getUserData(self.client.getUserDataId(plane1, "MyKey1")))
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self.assertEqual(b"This is plane 1 - 2", self.client.getUserData(self.client.getUserDataId(plane1, "MyKey2")))
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self.assertEqual(b"This is plane 2 - 1", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey1")))
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self.assertEqual(b"This is plane 2 - 2", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey2")))
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self.assertEqual(b"This is plane 2 - 3", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey3")))
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self.assertEqual(b"This is plane 2 - 1", self.client.getUserData(self.client.getUserDataId(plane2, "MyKey1")))
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self.assertEqual(b"This is plane 2 - 2", self.client.getUserData(self.client.getUserDataId(plane2, "MyKey2")))
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self.assertEqual(b"This is plane 2 - 3", self.client.getUserData(self.client.getUserDataId(plane2, "MyKey3")))
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def testMultipleLinks(self):
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@@ -198,14 +199,15 @@ class TestUserDataMethods(unittest.TestCase):
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self.assertTrue(num_links > 1)
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for link_index in range(num_links):
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uid1 = self.client.addUserData(body_id, link_index, "MyKey1", "Value1 for link %s" % link_index)
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uid2 = self.client.addUserData(body_id, link_index, "MyKey2", "Value2 for link %s" % link_index)
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uid1 = self.client.addUserData(body_id, "MyKey1", "Value1 for link %s" % link_index, link_index)
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uid2 = self.client.addUserData(body_id, "MyKey2", "Value2 for link %s" % link_index, link_index)
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for link_index in range(num_links):
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uid1 = self.client.getUserDataId(body_id, link_index, "MyKey1")
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uid2 = self.client.getUserDataId(body_id, link_index, "MyKey2")
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self.assertEqual(("Value1 for link %s" % link_index).encode(), self.client.getUserData(body_id, link_index, uid1))
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self.assertEqual(("Value2 for link %s" % link_index).encode(), self.client.getUserData(body_id, link_index, uid2))
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uid1 = self.client.getUserDataId(body_id, "MyKey1", link_index)
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uid2 = self.client.getUserDataId(body_id, "MyKey2", link_index)
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self.assertEqual(("Value1 for link %s" % link_index).encode(), self.client.getUserData(uid1))
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self.assertEqual(("Value2 for link %s" % link_index).encode(), self.client.getUserData(uid2))
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def testMultipleClients(self):
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client1 = self.client
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@@ -215,25 +217,48 @@ class TestUserDataMethods(unittest.TestCase):
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client2.syncBodyInfo()
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# Add user data on client 1, check on client 1
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uid = client1.addUserData(plane_id, 0, "MyKey", "MyValue")
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self.assertEqual(None, client2.getUserData(plane_id, 0, uid))
|
||||
uid = client1.addUserData(plane_id, "MyKey", "MyValue")
|
||||
self.assertEqual(None, client2.getUserData(uid))
|
||||
client2.syncUserData()
|
||||
self.assertEqual(b"MyValue", client2.getUserData(plane_id, 0, uid))
|
||||
self.assertEqual(b"MyValue", client2.getUserData(uid))
|
||||
|
||||
# Overwrite the value on client 2, check on client 1
|
||||
client2.addUserData(plane_id, 0, "MyKey", "MyNewValue")
|
||||
self.assertEqual(b"MyValue", client1.getUserData(plane_id, 0, uid))
|
||||
client2.addUserData(plane_id, "MyKey", "MyNewValue")
|
||||
self.assertEqual(b"MyValue", client1.getUserData(uid))
|
||||
client1.syncUserData()
|
||||
self.assertEqual(b"MyNewValue", client1.getUserData(plane_id, 0, uid))
|
||||
self.assertEqual(b"MyNewValue", client1.getUserData(uid))
|
||||
|
||||
# Remove user data on client 1, check on client 2
|
||||
client1.removeUserData(plane_id, 0, uid)
|
||||
self.assertEqual(b"MyNewValue", client2.getUserData(plane_id, 0, uid))
|
||||
client1.removeUserData(uid)
|
||||
self.assertEqual(b"MyNewValue", client2.getUserData(uid))
|
||||
client2.syncUserData()
|
||||
self.assertEqual(None, client2.getUserData(plane_id, 0, uid))
|
||||
self.assertEqual(None, client2.getUserData(uid))
|
||||
|
||||
del client2
|
||||
|
||||
|
||||
def testUserDataOnVisualShapes(self):
|
||||
body_id = self.client.loadURDF(ROBOT_PATH)
|
||||
num_links = self.client.getNumJoints(body_id)
|
||||
visual_shapes = self.client.getVisualShapeData(body_id)
|
||||
|
||||
self.assertTrue(num_links > 0)
|
||||
self.assertTrue(len(visual_shapes) > 0)
|
||||
|
||||
user_data_entries = set()
|
||||
for link_index in range(-1, num_links):
|
||||
num_shapes = sum([1 for shape in visual_shapes if shape[1] == link_index])
|
||||
for shape_index in range(num_shapes):
|
||||
key = "MyKey"
|
||||
value = "MyValue %s, %s" % (link_index, shape_index)
|
||||
uid = self.client.addUserData(body_id, key, value, link_index, shape_index)
|
||||
user_data_entries.add((uid, key, value.encode(), body_id, link_index, shape_index))
|
||||
|
||||
self.assertEqual(len(visual_shapes), self.client.getNumUserData(body_id))
|
||||
for uid, key, value, body_id, link_index, shape_index in user_data_entries:
|
||||
self.assertEqual(value, self.client.getUserData(uid))
|
||||
self.assertEqual(uid, self.client.getUserDataId(body_id, key, link_index, shape_index))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
Reference in New Issue
Block a user