public void ImportJointData_SpecificLimit_Succeeds()
{
var joint = new Joint(
name: "custom_joint", type: "planar", parent: "base", child: "link",
limit: new Joint.Limit(4, 5, 6, 7),
dynamics: new Joint.Dynamics(8, 9));
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
TestUrdfJointPlanar urdfJoint = linkObject.AddComponent <TestUrdfJointPlanar>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
urdfJoint.TestImportJointData(joint);
Assert.AreEqual(ArticulationDofLock.LockedMotion, articulationBody.linearLockX);
Assert.AreEqual(ArticulationDofLock.LimitedMotion, articulationBody.linearLockY);
Assert.AreEqual(ArticulationDofLock.LimitedMotion, articulationBody.linearLockZ);
Assert.AreEqual(4, articulationBody.xDrive.lowerLimit);
Assert.AreEqual(4, articulationBody.yDrive.lowerLimit);
Assert.AreEqual(4, articulationBody.zDrive.lowerLimit);
Assert.AreEqual(5, articulationBody.xDrive.upperLimit);
Assert.AreEqual(5, articulationBody.yDrive.upperLimit);
Assert.AreEqual(5, articulationBody.zDrive.upperLimit);
Assert.AreEqual(6, articulationBody.xDrive.forceLimit);
Assert.AreEqual(6, articulationBody.yDrive.forceLimit);
Assert.AreEqual(6, articulationBody.zDrive.forceLimit);
Assert.AreEqual(7, articulationBody.maxLinearVelocity);
Object.DestroyImmediate(baseObject);
}
public void IsJointAxisDefined_IsFalse()
{
GameObject linkObject = new GameObject("link");
TestUrdfJointPlanar joint = linkObject.AddComponent <TestUrdfJointPlanar>();
Assert.IsFalse(joint.TestIsJointAxisDefined);
Object.DestroyImmediate(linkObject);
}
public void ExportLimitData_Succeeds()
{
GameObject linkObject = new GameObject("link");
TestUrdfJointPlanar joint = linkObject.AddComponent <TestUrdfJointPlanar>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
articulationBody.yDrive = new ArticulationDrive()
{
lowerLimit = 1,
upperLimit = 2,
};
Joint.Limit limit = joint.TestExportLimitData;
Assert.AreEqual(1, limit.lower);
Assert.AreEqual(2, limit.upper);
Assert.AreEqual(joint.EffortLimit, limit.effort);
Assert.AreEqual(joint.VelocityLimit, limit.velocity);
Object.DestroyImmediate(linkObject);
}
public void ExportSpecificJointData_Succeeds()
{
GameObject linkObject = new GameObject("link");
TestUrdfJointPlanar urdfJoint = linkObject.AddComponent <TestUrdfJointPlanar>();
urdfJoint.SetAxisOfMotion(new Vector3(1.2345678f, 2.3456789f, 3.4567891f));
urdfJoint.Dynamics(new Joint.Dynamics(4, 5));
var joint = new Joint(
name: "custom_joint", type: "planar", parent: "base", child: "link");
urdfJoint.TestExportSpecificJointData(joint);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(1.234568f, (float)joint.axis.xyz[0]);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(2.345679f, (float)joint.axis.xyz[1]);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(3.456789f, (float)joint.axis.xyz[2]);
Assert.AreEqual(4, joint.dynamics.damping);
Assert.AreEqual(5, joint.dynamics.friction);
Object.DestroyImmediate(linkObject);
}
public void ImportJointData_DefaultAxis_Succeeds(Joint.Axis axis, Quaternion expectedAnchorRotation)
{
var joint = new Joint(
name: "custom_joint", type: "continuous", parent: "base", child: "link",
axis: axis);
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
TestUrdfJointPlanar urdfJoint = linkObject.AddComponent <TestUrdfJointPlanar>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
urdfJoint.TestImportJointData(joint);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(expectedAnchorRotation.w, articulationBody.anchorRotation.w);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(expectedAnchorRotation.x, articulationBody.anchorRotation.x);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(expectedAnchorRotation.y, articulationBody.anchorRotation.y);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(expectedAnchorRotation.z, articulationBody.anchorRotation.z);
Object.DestroyImmediate(baseObject);
}
