public void ExportGeometryData_MeshUnityDecomposer_DefaultGeometry()
{
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot("Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/");
RuntimeUrdf.runtimeModeEnabled = false;
UrdfRobotExtensions.importsettings = ImportSettings.DefaultSettings();
UrdfRobotExtensions.importsettings.convexMethod = ImportSettings.convexDecomposer.unity;
var parent = new GameObject("Parent").transform;
string path = "package://meshes/cube.stl";
var meshGeometry = new Geometry(mesh: new Mesh(path, new double[] { 1, 1, 1 }));
UrdfCollisionExtensions.Create(parent, new Collision(meshGeometry));
UrdfExportPathHandler.SetExportPath("Assets");
var t = parent.GetComponentInChildren <UrdfCollision>().transform.GetChild(0);
var export = UrdfGeometry.ExportGeometryData(GeometryTypes.Mesh, t);
Assert.IsNotNull(export);
Object.DestroyImmediate(parent.gameObject);
List <string> outFailedPaths = new List <string>();
AssetDatabase.DeleteAssets(new string[] { "Assets/meshes" }, outFailedPaths);
}
public void Create_CylinderMesh_AssetCreated()
{
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot("Assets/Tests/Runtime/GeometryTests");
RuntimeUrdf.runtimeModeEnabled = false;
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Cylinder);
// Verify Cylinder created in Hierarchy
var createdCylinder = parent.Find("Cylinder").gameObject;
Assert.IsTrue(createdCylinder.activeInHierarchy);
Assert.IsNotNull(createdCylinder.GetComponent <MeshCollider>());
// Check for standard values on collider
Assert.AreEqual(1864, createdCylinder.GetComponent <MeshCollider>().sharedMesh.vertexCount);
Assert.IsTrue(Vector3.Distance(Vector3.zero, createdCylinder.GetComponent <MeshCollider>().sharedMesh.bounds.center) < centerDelta);
Assert.IsTrue(Vector3.Distance(new Vector3(0.5f, 1f, 0.5f), createdCylinder.GetComponent <MeshCollider>().sharedMesh.bounds.extents) < scaleDelta);
// Verify Cylinder created in Assets
Assert.IsNotNull(RuntimeUrdf.AssetDatabase_FindAssets("Cylinder t:mesh", new string[] { "Assets/Tests/Runtime/GeometryTests" }));
AssetDatabase.DeleteAsset("Assets/Tests/Runtime/GeometryTests/Cylinder.asset");
Object.DestroyImmediate(parent.gameObject);
}
public void Create_FromStlVhacdRuntime_CubeMesh()
{
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot("Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/");
UrdfRobotExtensions.importsettings = ImportSettings.DefaultSettings();
var parent = new GameObject("Parent").transform;
string path = "package://meshes/cube.stl";
var meshGeometry = new Geometry(mesh: new Mesh(path, new double[] { 1, 1, 1 }));
UrdfCollisionExtensions.Create(parent, new Collision(meshGeometry));
// Verify geometry created in Hierarchy
var urdfCollision = parent.GetComponentInChildren <UrdfCollision>().transform;
var mesh = urdfCollision.Find("cube/cube_0").gameObject;
Assert.IsTrue(mesh.activeInHierarchy);
Assert.IsNotNull(mesh.GetComponent <MeshCollider>());
Assert.AreEqual(8, mesh.GetComponent <MeshCollider>().sharedMesh.vertexCount);
Assert.IsTrue(Vector3.Distance(Vector3.one * 15f, mesh.GetComponent <MeshCollider>().sharedMesh.bounds.extents) < scaleDelta);
// Verify geometry created in Assets
Assert.IsNotNull(AssetDatabase.FindAssets("cube t:mesh", new string[] { "Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/meshes" }));
AssetDatabase.DeleteAsset("Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/meshes/cube_1.asset");
Object.DestroyImmediate(parent.gameObject);
}
public void GetRelativeAssetPath_Runtime_Success()
{
RuntimeUrdf.runtimeModeEnabled = true;
// Starting with Application.dataPath
Assert.AreEqual("Assets/Valid/Path", UrdfAssetPathHandler.GetRelativeAssetPath($"{Application.dataPath}/Valid/Path"));
// Not starting with dataPath
Assert.AreEqual("Assets/Valid/Path", UrdfAssetPathHandler.GetRelativeAssetPath($"Assets/Valid/Path"));
}
public void GetRelativeAssetPath_Nonruntime_NullValues()
{
RuntimeUrdf.runtimeModeEnabled = false;
// Everything returns null during non-runtime
Assert.IsNull(UrdfAssetPathHandler.GetRelativeAssetPath("Invalid/Asset/Path"));
Assert.IsNull(UrdfAssetPathHandler.GetRelativeAssetPath($"{assetRoot}/TestAsset.txt"));
Assert.IsNull(UrdfAssetPathHandler.GetRelativeAssetPath($"Packages/com.unity.robotics.urdf-importer/Tests/Runtime/AssetHandlers/UrdfAssetPathHandlerTests.cs"));
}
public void GetSetPackageRoot_RuntimeModeEnabled_Success()
{
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot(assetRoot); // Set oldPackagePath
UrdfAssetPathHandler.SetPackageRoot(assetRoot, true); // Run correctPackageRoot
Assert.AreEqual(assetRoot, UrdfAssetPathHandler.GetPackageRoot());
}
public void GetRelativeAssetPathFromUrdfPath_CubeUrdf_Success()
{
string urdfRoot = "Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube";
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot(urdfRoot);
RuntimeUrdf.runtimeModeEnabled = false;
Assert.AreEqual($"{urdfRoot}/meshes/cube.prefab", UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath("package://meshes/cube.stl"));
Assert.AreEqual($"{urdfRoot}/meshes/cube.prefab", UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath("../meshes/cube.stl"));
}
public void Synchronize(Robot robot, GameObject rootObject, string assetRoot)
{
GameObject robotGameObject = rootObject;
robotGameObject.AddComponentIfNotExists <UrdfRobot>();
UrdfAssetPathHandler.SetPackageRoot(assetRoot);
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Synchronize(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Synchronize(robotGameObject.transform, robot.root);
}
public void GetMaterialAssetPath_AssetAndPackage_Success()
{
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot(assetRoot);
RuntimeUrdf.runtimeModeEnabled = false;
Assert.AreEqual($"{assetRoot}/Materials/TestMaterial.mat", UrdfAssetPathHandler.GetMaterialAssetPath("TestMaterial"));
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot(packageRoot);
RuntimeUrdf.runtimeModeEnabled = false;
Assert.AreEqual($"{packageRoot}/Materials/TestMaterial.mat", UrdfAssetPathHandler.GetMaterialAssetPath("TestMaterial"));
}
private static void CreateUrdfObject()
{
//Get path to asset, check if it's a urdf file
string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject);
if (Path.GetExtension(assetPath)?.ToLower() == ".urdf")
{
UrdfRobot.Create(UrdfAssetPathHandler.GetFullAssetPath(assetPath));
}
else
{
EditorUtility.DisplayDialog("URDF Import",
"The file you selected was not a URDF file. A robot can only be imported from a valid URDF file.", "Ok");
}
}
public void IsValidAssetPath_Nonruntime_Success()
{
RuntimeUrdf.runtimeModeEnabled = false;
AssetDatabase.CreateAsset(new TextAsset("TestAsset"), $"{assetRoot}/TestAsset.txt");
// Everything returns null during non-runtime
Assert.IsFalse(UrdfAssetPathHandler.IsValidAssetPath("Invalid/Asset/Path"));
Assert.IsFalse(UrdfAssetPathHandler.IsValidAssetPath($"{assetRoot}/TestAsset.txt"));
Assert.IsFalse(UrdfAssetPathHandler.IsValidAssetPath($"Packages/com.unity.robotics.urdf-importer/Tests/Runtime/AssetHandlers/UrdfAssetPathHandlerTests.cs"));
RuntimeUrdf.runtimeModeEnabled = true;
// Everything returns true during runtime
Assert.IsTrue(UrdfAssetPathHandler.IsValidAssetPath("Invalid/Asset/Path"));
Assert.IsTrue(UrdfAssetPathHandler.IsValidAssetPath($"{assetRoot}/TestAsset.txt"));
Assert.IsTrue(UrdfAssetPathHandler.IsValidAssetPath($"Packages/com.unity.robotics.urdf-importer/Tests/Runtime/AssetHandlers/UrdfAssetPathHandlerTests.cs"));
}
private static void CreateUrdfObject()
{
//Get path to asset, check if it's a urdf file
string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject);
if (Path.GetExtension(assetPath)?.ToLower() == ".urdf")
{
// Get existing open window or if none, make a new one:
FileImportMenu window = (FileImportMenu)EditorWindow.GetWindow(typeof(FileImportMenu));
window.urdfFile = UrdfAssetPathHandler.GetFullAssetPath(assetPath);
window.minSize = new Vector2(500, 200);
window.Show();
}
else
{
EditorUtility.DisplayDialog("URDF Import",
"The file you selected was not a URDF file. Please select a valid URDF file.", "Ok");
}
}
public void GetFullAssetPath_AssetAndPackageRoot_Success()
{
Assert.AreEqual($"{Application.dataPath}/Tests/Runtime/UrdfAssetPathHandler", UrdfAssetPathHandler.GetFullAssetPath(assetRoot));
string projectPath = Application.dataPath.Substring(0, Application.dataPath.Length - "Assets".Length);
Assert.AreEqual($"{projectPath}Packages/com.unity.robotics.urdf-importer/Tests/Runtime/UrdfAssetPathHandler", UrdfAssetPathHandler.GetFullAssetPath(packageRoot));
}
