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import unittest
import pybullet
from pybullet_utils import bullet_client
PLANE_PATH = "plane.urdf"
ROBOT_PATH = "r2d2.urdf"
class TestUserDataMethods(unittest.TestCase):
@classmethod
def setUpClass(cls):
TestUserDataMethods.server = bullet_client.BulletClient(
connection_mode=pybullet.SHARED_MEMORY_SERVER)
@classmethod
def tearDownClass(cls):
del TestUserDataMethods.server
def setUp(self):
self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
def tearDown(self):
self.client.resetSimulation()
del self.client
def testAddUserData(self):
plane_id = self.client.loadURDF(PLANE_PATH)
uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
# Retrieve user data and make sure it's correct.
self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
self.assertEqual(b"MyValue2", self.client.getUserData(uid2))
self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
# Disconnect/reconnect and make sure that the user data is synced back.
del self.client
self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
self.assertEqual(b"MyValue2", self.client.getUserData(uid2))
self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
self.client.resetSimulation()
self.assertEqual(None, self.client.getUserData(uid1))
self.assertEqual(None, self.client.getUserData(uid2))
self.assertEqual(None, self.client.getUserData(uid3))
self.assertEqual(None, self.client.getUserData(uid4))
def testGetNumUserData(self):
plane_id = self.client.loadURDF(PLANE_PATH)
uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
self.assertEqual(4, self.client.getNumUserData(plane_id))
del self.client
self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
self.assertEqual(4, self.client.getNumUserData(plane_id))
def testReplaceUserData(self):
plane_id = self.client.loadURDF(PLANE_PATH)
uid = self.client.addUserData(plane_id, "MyKey", "MyValue")
self.assertEqual(b"MyValue", self.client.getUserData(uid))
new_uid = self.client.addUserData(plane_id, "MyKey", "MyNewValue")
self.assertEqual(uid, new_uid)
self.assertEqual(b"MyNewValue", self.client.getUserData(uid))
del self.client
self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
self.assertEqual(b"MyNewValue", self.client.getUserData(uid))
def testGetUserDataId(self):
plane_id = self.client.loadURDF(PLANE_PATH)
uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
self.assertEqual(uid1, self.client.getUserDataId(plane_id, "MyKey1"))
self.assertEqual(uid2, self.client.getUserDataId(plane_id, "MyKey2"))
self.assertEqual(uid3, self.client.getUserDataId(plane_id, "MyKey3"))
self.assertEqual(uid4, self.client.getUserDataId(plane_id, "MyKey4"))
del self.client
self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
self.assertEqual(uid1, self.client.getUserDataId(plane_id, "MyKey1"))
self.assertEqual(uid2, self.client.getUserDataId(plane_id, "MyKey2"))
self.assertEqual(uid3, self.client.getUserDataId(plane_id, "MyKey3"))
self.assertEqual(uid4, self.client.getUserDataId(plane_id, "MyKey4"))
def testRemoveUserData(self):
plane_id = self.client.loadURDF(PLANE_PATH)
uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
self.client.removeUserData(uid2)
self.assertEqual(3, self.client.getNumUserData(plane_id))
self.assertEqual(-1, self.client.getUserDataId(plane_id, "MyKey2"))
self.assertEqual(None, self.client.getUserData(uid2))
self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
del self.client
self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
self.assertEqual(3, self.client.getNumUserData(plane_id))
self.assertEqual(-1, self.client.getUserDataId(plane_id, "MyKey2"))
self.assertEqual(None, self.client.getUserData(uid2))
self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
def testIterateAllUserData(self):
plane_id = self.client.loadURDF(PLANE_PATH)
uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
entries = set()
for i in range(self.client.getNumUserData(plane_id)):
userDataId, key, bodyId, linkIndex, visualShapeIndex = self.client.getUserDataInfo(
plane_id, i)
value = self.client.getUserData(userDataId)
entries.add((userDataId, key, value, bodyId, linkIndex, visualShapeIndex))
self.assertTrue((uid1, b"MyKey1", b"MyValue1", plane_id, -1, -1) in entries)
self.assertTrue((uid2, b"MyKey2", b"MyValue2", plane_id, -1, -1) in entries)
self.assertTrue((uid3, b"MyKey3", b"MyValue3", plane_id, -1, -1) in entries)
self.assertTrue((uid4, b"MyKey4", b"MyValue4", plane_id, -1, -1) in entries)
self.assertEqual(4, len(entries))
def testRemoveBody(self):
plane_id = self.client.loadURDF(PLANE_PATH)
uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
self.client.removeBody(plane_id)
self.assertEqual(None, self.client.getUserData(uid1))
self.assertEqual(None, self.client.getUserData(uid2))
self.assertEqual(None, self.client.getUserData(uid3))
self.assertEqual(None, self.client.getUserData(uid4))
del self.client
self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
self.assertEqual(None, self.client.getUserData(uid1))
self.assertEqual(None, self.client.getUserData(uid2))
self.assertEqual(None, self.client.getUserData(uid3))
self.assertEqual(None, self.client.getUserData(uid4))
def testMultipleBodies(self):
plane1 = self.client.loadURDF(PLANE_PATH)
plane2 = self.client.loadURDF(PLANE_PATH)
uid1 = self.client.addUserData(plane1, "MyKey1", "This is plane 1 - 1")
uid2 = self.client.addUserData(plane1, "MyKey2", "This is plane 1 - 2")
uid3 = self.client.addUserData(plane2, "MyKey1", "This is plane 2 - 1")
uid4 = self.client.addUserData(plane2, "MyKey2", "This is plane 2 - 2")
uid5 = self.client.addUserData(plane2, "MyKey3", "This is plane 2 - 3")
self.assertEqual(b"This is plane 1 - 1",
self.client.getUserData(self.client.getUserDataId(plane1, "MyKey1")))
self.assertEqual(b"This is plane 1 - 2",
self.client.getUserData(self.client.getUserDataId(plane1, "MyKey2")))
self.assertEqual(b"This is plane 2 - 1",
self.client.getUserData(self.client.getUserDataId(plane2, "MyKey1")))
self.assertEqual(b"This is plane 2 - 2",
self.client.getUserData(self.client.getUserDataId(plane2, "MyKey2")))
self.assertEqual(b"This is plane 2 - 3",
self.client.getUserData(self.client.getUserDataId(plane2, "MyKey3")))
def testMultipleLinks(self):
body_id = self.client.loadURDF(ROBOT_PATH)
num_links = self.client.getNumJoints(body_id)
self.assertTrue(num_links > 1)
for link_index in range(num_links):
uid1 = self.client.addUserData(body_id, "MyKey1", "Value1 for link %s" % link_index,
link_index)
uid2 = self.client.addUserData(body_id, "MyKey2", "Value2 for link %s" % link_index,
link_index)
for link_index in range(num_links):
uid1 = self.client.getUserDataId(body_id, "MyKey1", link_index)
uid2 = self.client.getUserDataId(body_id, "MyKey2", link_index)
self.assertEqual(("Value1 for link %s" % link_index).encode(), self.client.getUserData(uid1))
self.assertEqual(("Value2 for link %s" % link_index).encode(), self.client.getUserData(uid2))
def testMultipleClients(self):
client1 = self.client
client2 = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
plane_id = client1.loadURDF(PLANE_PATH)
client2.syncBodyInfo()
# Add user data on client 1, check on client 1
uid = client1.addUserData(plane_id, "MyKey", "MyValue")
self.assertEqual(None, client2.getUserData(uid))
client2.syncUserData()
self.assertEqual(b"MyValue", client2.getUserData(uid))
# Overwrite the value on client 2, check on client 1
client2.addUserData(plane_id, "MyKey", "MyNewValue")
self.assertEqual(b"MyValue", client1.getUserData(uid))
client1.syncUserData()
self.assertEqual(b"MyNewValue", client1.getUserData(uid))
# Remove user data on client 1, check on client 2
client1.removeUserData(uid)
self.assertEqual(b"MyNewValue", client2.getUserData(uid))
client2.syncUserData()
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()
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