bb72a91080
Adds unit test for the UserData functons. Changes the char pointer in btHashString to std::string. There were problems where the object owning the string memory would deallocate the string, making the btHashString object invalid.
238 lines
10 KiB
Python
238 lines
10 KiB
Python
import unittest
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import pybullet
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PLANE_PATH = "plane.urdf"
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ROBOT_PATH = "r2d2.urdf"
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class TestUserDataMethods(unittest.TestCase):
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def setUp(self):
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self.client_id = pybullet.connect(pybullet.SHARED_MEMORY)
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def tearDown(self):
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pybullet.resetSimulation()
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pybullet.disconnect()
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def testAddUserData(self):
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plane_id = pybullet.loadURDF(PLANE_PATH)
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uid1 = pybullet.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = pybullet.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = pybullet.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = pybullet.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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# Retrieve user data and make sure it's correct.
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self.assertEqual(b"MyValue1", pybullet.getUserData(plane_id, 0, uid1))
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self.assertEqual(b"MyValue2", pybullet.getUserData(plane_id, 0, uid2))
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self.assertEqual(b"MyValue3", pybullet.getUserData(plane_id, 0, uid3))
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self.assertEqual(b"MyValue4", pybullet.getUserData(plane_id, 0, uid4))
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# Disconnect/reconnect and make sure that the user data is synced back.
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pybullet.disconnect()
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pybullet.connect(pybullet.SHARED_MEMORY)
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self.assertEqual(b"MyValue1", pybullet.getUserData(plane_id, 0, uid1))
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self.assertEqual(b"MyValue2", pybullet.getUserData(plane_id, 0, uid2))
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self.assertEqual(b"MyValue3", pybullet.getUserData(plane_id, 0, uid3))
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self.assertEqual(b"MyValue4", pybullet.getUserData(plane_id, 0, uid4))
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pybullet.resetSimulation()
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid1))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid2))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid3))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid4))
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def testGetNumUserData(self):
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pybullet.connect(pybullet.SHARED_MEMORY)
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plane_id = pybullet.loadURDF(PLANE_PATH)
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uid1 = pybullet.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = pybullet.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = pybullet.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = pybullet.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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self.assertEqual(4, pybullet.getNumUserData(plane_id, 0))
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pybullet.disconnect()
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pybullet.connect(pybullet.SHARED_MEMORY)
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self.assertEqual(4, pybullet.getNumUserData(plane_id, 0))
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def testReplaceUserData(self):
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pybullet.connect(pybullet.SHARED_MEMORY)
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plane_id = pybullet.loadURDF(PLANE_PATH)
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uid = pybullet.addUserData(plane_id, 0, "MyKey", "MyValue")
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self.assertEqual(b"MyValue", pybullet.getUserData(plane_id, 0, uid))
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new_uid = pybullet.addUserData(plane_id, 0, "MyKey", "MyNewValue")
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self.assertEqual(uid, new_uid)
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self.assertEqual(b"MyNewValue", pybullet.getUserData(plane_id, 0, uid))
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pybullet.disconnect()
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pybullet.connect(pybullet.SHARED_MEMORY)
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self.assertEqual(b"MyNewValue", pybullet.getUserData(plane_id, 0, uid))
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def testGetUserDataId(self):
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pybullet.connect(pybullet.SHARED_MEMORY)
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plane_id = pybullet.loadURDF(PLANE_PATH)
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uid1 = pybullet.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = pybullet.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = pybullet.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = pybullet.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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self.assertEqual(uid1, pybullet.getUserDataId(plane_id, 0, "MyKey1"))
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self.assertEqual(uid2, pybullet.getUserDataId(plane_id, 0, "MyKey2"))
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self.assertEqual(uid3, pybullet.getUserDataId(plane_id, 0, "MyKey3"))
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self.assertEqual(uid4, pybullet.getUserDataId(plane_id, 0, "MyKey4"))
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pybullet.disconnect()
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pybullet.connect(pybullet.SHARED_MEMORY)
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self.assertEqual(uid1, pybullet.getUserDataId(plane_id, 0, "MyKey1"))
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self.assertEqual(uid2, pybullet.getUserDataId(plane_id, 0, "MyKey2"))
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self.assertEqual(uid3, pybullet.getUserDataId(plane_id, 0, "MyKey3"))
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self.assertEqual(uid4, pybullet.getUserDataId(plane_id, 0, "MyKey4"))
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def testRemoveUserData(self):
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pybullet.connect(pybullet.SHARED_MEMORY)
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plane_id = pybullet.loadURDF(PLANE_PATH)
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uid1 = pybullet.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = pybullet.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = pybullet.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = pybullet.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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pybullet.removeUserData(plane_id, 0, uid2)
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self.assertEqual(3, pybullet.getNumUserData(plane_id, 0))
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self.assertEqual(-1, pybullet.getUserDataId(plane_id, 0, "MyKey2"))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid2))
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self.assertEqual(b"MyValue1", pybullet.getUserData(plane_id, 0, uid1))
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self.assertEqual(b"MyValue3", pybullet.getUserData(plane_id, 0, uid3))
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self.assertEqual(b"MyValue4", pybullet.getUserData(plane_id, 0, uid4))
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pybullet.disconnect()
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pybullet.connect(pybullet.SHARED_MEMORY)
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self.assertEqual(3, pybullet.getNumUserData(plane_id, 0))
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self.assertEqual(-1, pybullet.getUserDataId(plane_id, 0, "MyKey2"))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid2))
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self.assertEqual(b"MyValue1", pybullet.getUserData(plane_id, 0, uid1))
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self.assertEqual(b"MyValue3", pybullet.getUserData(plane_id, 0, uid3))
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self.assertEqual(b"MyValue4", pybullet.getUserData(plane_id, 0, uid4))
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def testIterateAllUserData(self):
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pybullet.connect(pybullet.SHARED_MEMORY)
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plane_id = pybullet.loadURDF(PLANE_PATH)
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uid1 = pybullet.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = pybullet.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = pybullet.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = pybullet.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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entries = set()
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for i in range(pybullet.getNumUserData(plane_id, 0)):
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userDataId, key = pybullet.getUserDataInfo(plane_id, 0, i)
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value = pybullet.getUserData(plane_id, 0, userDataId);
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entries.add((userDataId, key, value))
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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.assertEqual(4, len(entries))
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def testRemoveBody(self):
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pybullet.connect(pybullet.SHARED_MEMORY)
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plane_id = pybullet.loadURDF(PLANE_PATH)
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uid1 = pybullet.addUserData(plane_id, 0, "MyKey1", "MyValue1")
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uid2 = pybullet.addUserData(plane_id, 0, "MyKey2", "MyValue2")
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uid3 = pybullet.addUserData(plane_id, 0, "MyKey3", "MyValue3")
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uid4 = pybullet.addUserData(plane_id, 0, "MyKey4", "MyValue4")
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pybullet.removeBody(plane_id)
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid1))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid2))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid3))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid4))
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pybullet.disconnect()
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pybullet.connect(pybullet.SHARED_MEMORY)
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid1))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid2))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid3))
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid4))
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def testMultipleBodies(self):
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pybullet.connect(pybullet.SHARED_MEMORY)
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plane1 = pybullet.loadURDF(PLANE_PATH)
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plane2 = pybullet.loadURDF(PLANE_PATH)
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uid1 = pybullet.addUserData(plane1, 0, "MyKey1", "This is plane 1 - 1")
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uid2 = pybullet.addUserData(plane1, 0, "MyKey2", "This is plane 1 - 2")
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uid3 = pybullet.addUserData(plane2, 0, "MyKey1", "This is plane 2 - 1")
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uid4 = pybullet.addUserData(plane2, 0, "MyKey2", "This is plane 2 - 2")
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uid5 = pybullet.addUserData(plane2, 0, "MyKey3", "This is plane 2 - 3")
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self.assertEqual(b"This is plane 1 - 1", pybullet.getUserData(plane1, 0, pybullet.getUserDataId(plane1, 0, "MyKey1")))
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self.assertEqual(b"This is plane 1 - 2", pybullet.getUserData(plane1, 0, pybullet.getUserDataId(plane1, 0, "MyKey2")))
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self.assertEqual(b"This is plane 2 - 1", pybullet.getUserData(plane2, 0, pybullet.getUserDataId(plane2, 0, "MyKey1")))
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self.assertEqual(b"This is plane 2 - 2", pybullet.getUserData(plane2, 0, pybullet.getUserDataId(plane2, 0, "MyKey2")))
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self.assertEqual(b"This is plane 2 - 3", pybullet.getUserData(plane2, 0, pybullet.getUserDataId(plane2, 0, "MyKey3")))
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def testMultipleLinks(self):
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pybullet.connect(pybullet.SHARED_MEMORY)
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body_id = pybullet.loadURDF(ROBOT_PATH)
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num_links = pybullet.getNumJoints(body_id)
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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 = pybullet.addUserData(body_id, link_index, "MyKey1", "Value1 for link %s" % link_index)
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uid2 = pybullet.addUserData(body_id, link_index, "MyKey2", "Value2 for link %s" % link_index)
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for link_index in range(num_links):
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uid1 = pybullet.getUserDataId(body_id, link_index, "MyKey1")
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uid2 = pybullet.getUserDataId(body_id, link_index, "MyKey2")
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self.assertEqual(("Value1 for link %s" % link_index).encode(), pybullet.getUserData(body_id, link_index, uid1))
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self.assertEqual(("Value2 for link %s" % link_index).encode(), pybullet.getUserData(body_id, link_index, uid2))
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def testMultipleClients(self):
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client1 = self.client_id
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client2 = pybullet.connect(pybullet.SHARED_MEMORY)
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plane_id = pybullet.loadURDF(PLANE_PATH, physicsClientId=client1)
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pybullet.syncBodyInfo(physicsClientId=client2)
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# Add user data on client 1, check on client 1
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uid = pybullet.addUserData(plane_id, 0, "MyKey", "MyValue", physicsClientId=client1)
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid, physicsClientId=client2))
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pybullet.syncUserData(physicsClientId=client2)
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self.assertEqual(b"MyValue", pybullet.getUserData(plane_id, 0, uid, physicsClientId=client2))
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# Overwrite the value on client 2, check on client 1
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pybullet.addUserData(plane_id, 0, "MyKey", "MyNewValue", physicsClientId=client2)
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self.assertEqual(b"MyValue", pybullet.getUserData(plane_id, 0, uid, physicsClientId=client1))
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pybullet.syncUserData(physicsClientId=client1)
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self.assertEqual(b"MyNewValue", pybullet.getUserData(plane_id, 0, uid, physicsClientId=client1))
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# Remove user data on client 1, check on client 2
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pybullet.removeUserData(plane_id, 0, uid, physicsClientId=client1)
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self.assertEqual(b"MyNewValue", pybullet.getUserData(plane_id, 0, uid, physicsClientId=client2))
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pybullet.syncUserData(physicsClientId=client2)
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self.assertEqual(None, pybullet.getUserData(plane_id, 0, uid, physicsClientId=client2))
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pybullet.disconnect(physicsClientId=client2)
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if __name__ == "__main__":
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unittest.main()
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