private static void ImportLinkData(this UrdfLink urdfLink, Link link, Joint joint)
{
if (link.inertial == null && joint == null)
{
urdfLink.IsBaseLink = true;
}
urdfLink.gameObject.name = link.name;
if (joint?.origin != null)
{
UrdfOrigin.ImportOriginData(urdfLink.transform, joint.origin);
}
if (link.inertial != null)
{
UrdfInertial.Create(urdfLink.gameObject, link.inertial);
if (joint != null)
{
UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint);
}
}
else if (joint != null)
{
Debug.LogWarning("No Joint Component will be created in GameObject \"" + urdfLink.gameObject.name + "\" as it has no Rigidbody Component.\n"
+ "Please define an Inertial for Link \"" + link.name + "\" in the URDF file to create a Rigidbody Component.\n", urdfLink.gameObject);
}
foreach (Joint childJoint in link.joints)
{
Link child = childJoint.ChildLink;
UrdfLinkExtensions.Create(urdfLink.transform, child, childJoint);
}
}
public void ExportJointData_ArbitraryJointData_Succeeds()
{
Vector3 position = new Vector3(1, 2, 3);
Quaternion rotation = Quaternion.Euler(4, 5, 6);
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
linkObject.transform.position = position;
linkObject.transform.rotation = rotation;
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
UrdfJoint.Create(linkObject, UrdfJoint.JointTypes.Revolute);
var joint = linkObject.GetComponent <UrdfJoint>().ExportJointData();
Assert.IsNull(joint.name);
Assert.AreEqual("revolute", joint.type);
Assert.AreEqual(baseObject.name, joint.parent);
Assert.AreEqual(linkObject.name, joint.child);
Assert.AreEqual(new double[] { position[2], -position[0], position[1] }, joint.origin.Xyz);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(-rotation.eulerAngles[2] * Mathf.Deg2Rad, (float)joint.origin.Rpy[0]);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(rotation.eulerAngles[0] * Mathf.Deg2Rad, (float)joint.origin.Rpy[1]);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(-rotation.eulerAngles[1] * Mathf.Deg2Rad, (float)joint.origin.Rpy[2]);
Object.DestroyImmediate(baseObject);
Object.DestroyImmediate(linkObject);
}
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);
}
private static void ImportLinkData(this UrdfLink urdfLink, Link link, Joint joint)
{
if (link.inertial == null && joint == null)
{
urdfLink.IsBaseLink = true;
}
urdfLink.gameObject.name = link.name;
if (joint?.origin != null)
{
UrdfOrigin.ImportOriginData(urdfLink.transform, joint.origin);
}
if (link.inertial != null)
{
UrdfInertial.Create(urdfLink.gameObject, link.inertial);
if (joint != null)
{
UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint);
}
}
else if (joint != null)
{
UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint);
}
foreach (Joint childJoint in link.joints)
{
Link child = childJoint.ChildLink;
UrdfLinkExtensions.Create(urdfLink.transform, child, childJoint);
}
}
public void AreLimitsCorrect_Fails()
{
var joint = new Joint(
name: "custom_joint", type: "planar", parent: "base", child: "link",
limit: new Joint.Limit(5, 4, 6, 7),
dynamics: new Joint.Dynamics(8, 9));
GameObject linkObject = new GameObject("link");
UrdfJoint urdfJoint = UrdfJoint.Create(linkObject, UrdfJoint.JointTypes.Revolute, joint);
Assert.IsFalse(urdfJoint.AreLimitsCorrect());
Object.DestroyImmediate(linkObject);
}
public void AreLimitsCorrect_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 linkObject = new GameObject("link");
UrdfJoint urdfJoint = UrdfJoint.Create(linkObject, UrdfJoint.JointTypes.Prismatic, joint);
Assert.IsTrue(urdfJoint.AreLimitsCorrect());
Object.DestroyImmediate(linkObject);
}
public void Create_UrdfJoint_Succeeds(UrdfJoint.JointTypes urdfJointType, ArticulationJointType articulationJointType)
{
GameObject linkObject = new GameObject("link");
UrdfJoint urdfJoint = UrdfJoint.Create(linkObject, urdfJointType);
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.IsNotNull(urdfJoint);
Assert.IsNotNull(articulationBody);
Assert.AreEqual(urdfJointType, urdfJoint.JointType);
Assert.AreEqual(articulationJointType, articulationBody.jointType);
Object.DestroyImmediate(linkObject);
}
public void Create_WithOtherTypeOfJointData_FixedArticulationBody()
{
Joint joint = new Joint(
name: "reference", type: "prismatic", parent: null, child: null);
GameObject linkObject = new GameObject("link");
UrdfJoint urdfJoint = UrdfJoint.Create(linkObject, UrdfJoint.JointTypes.Fixed, joint);
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.IsNotNull(urdfJoint);
Assert.IsNotNull(articulationBody);
Assert.AreEqual(UrdfJoint.JointTypes.Fixed, urdfJoint.JointType);
Assert.AreEqual(ArticulationJointType.FixedJoint, articulationBody.jointType);
}
public void GetPosition_Succeeds()
{
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
linkObject.transform.localPosition = new Vector3(1, 2, 3);
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
UrdfJoint joint = UrdfJointPlanar.Create(linkObject);
Assert.AreEqual(linkObject.transform.localPosition.magnitude, joint.GetPosition());
Object.DestroyImmediate(baseObject);
}
public void Create_WithJointData_Succeeds()
{
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
var joint = new Joint("custom_name", "revolute", "base", "link");
UrdfJoint urdfJoint = UrdfJoint.Create(linkObject, UrdfJoint.JointTypes.Prismatic, joint);
Assert.AreEqual("custom_name", urdfJoint.jointName);
Object.DestroyImmediate(baseObject);
Object.DestroyImmediate(linkObject);
}
public void GenerateUniqueJointName_UniqueName_Succeeds()
{
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
var joint = UrdfJoint.Create(linkObject, UrdfJoint.JointTypes.Revolute);
Assert.IsNull(joint.jointName);
joint.GenerateUniqueJointName();
Assert.NotNull(joint.jointName);
Object.DestroyImmediate(baseObject);
Object.DestroyImmediate(linkObject);
}
public void UpdateJointState_Succeeds()
{
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
UrdfJoint joint = UrdfJointRevolute.Create(linkObject);
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.AreEqual(0, articulationBody.xDrive.target);
joint.UpdateJointState(1);
Assert.AreEqual(1 * Mathf.Rad2Deg, articulationBody.xDrive.target);
Object.DestroyImmediate(baseObject);
}
public override void OnInspectorGUI()
{
GUILayout.Space(5);
urdfLink.IsBaseLink = EditorGUILayout.Toggle("Is Base Link", urdfLink.IsBaseLink);
GUILayout.Space(5);
EditorGUILayout.BeginVertical("HelpBox");
jointType = (UrdfJoint.JointTypes)EditorGUILayout.EnumPopup(
"Child Joint Type", jointType);
if (GUILayout.Button("Add child link (with joint)"))
{
UrdfLink childLink = UrdfLinkExtensions.Create(urdfLink.transform);
UrdfJoint.Create(childLink.gameObject, jointType);
}
EditorGUILayout.EndVertical();
}
public void GetPositionVelocityEffort_Succeeds()
{
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
UrdfJoint joint = UrdfJointPrismatic.Create(linkObject);
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
articulationBody.jointPosition = new ArticulationReducedSpace(1, 2, 3);
articulationBody.jointVelocity = new ArticulationReducedSpace(4, 5, 6);
articulationBody.jointForce = new ArticulationReducedSpace(7, 8, 9);
Assert.AreEqual(1, joint.GetPosition());
Assert.AreEqual(4, joint.GetVelocity());
Assert.AreEqual(7, joint.GetEffort());
Object.DestroyImmediate(baseObject);
}
public void ImportJointData_SpecificAixs_Succeeds()
{
var joint = new Joint(
name: "custom_joint", type: "prismatic", parent: "base", child: "link",
axis: new Joint.Axis(new double[] { 1, 2, 3 }),
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);
TestUrdfJointRevolute urdfJoint = linkObject.AddComponent <TestUrdfJointRevolute>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
urdfJoint.TestImportJointData(joint);
Assert.AreEqual(ArticulationDofLock.LimitedMotion, articulationBody.linearLockX);
Assert.AreEqual(ArticulationDofLock.LockedMotion, articulationBody.linearLockY);
Assert.AreEqual(ArticulationDofLock.LockedMotion, articulationBody.linearLockZ);
Assert.AreEqual(ArticulationDofLock.LimitedMotion, articulationBody.twistLock);
Quaternion expectedAnchorRotation = new Quaternion();
expectedAnchorRotation.SetFromToRotation(new Vector3(1, 0, 0), -new Vector3(-2, 3, 1));
Assert.AreEqual(expectedAnchorRotation, articulationBody.anchorRotation);
Assert.AreEqual(4 * Mathf.Rad2Deg, articulationBody.xDrive.lowerLimit);
Assert.AreEqual(5 * Mathf.Rad2Deg, articulationBody.xDrive.upperLimit);
Assert.AreEqual(6, articulationBody.xDrive.forceLimit);
Assert.AreEqual(7, articulationBody.maxAngularVelocity);
Assert.AreEqual(8, articulationBody.linearDamping);
Assert.AreEqual(8, articulationBody.angularDamping);
Assert.AreEqual(9, articulationBody.jointFriction);
Object.DestroyImmediate(baseObject);
}
public void ChangeJointType_FromFixedToRevolute_Succeeds()
{
GameObject baseLink = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseLink.transform;
UrdfJoint.Create(baseLink, UrdfJoint.JointTypes.Fixed);
UrdfJoint.Create(linkObject, UrdfJoint.JointTypes.Fixed);
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.AreEqual(ArticulationJointType.FixedJoint, articulationBody.jointType);
Assert.AreEqual(0, articulationBody.dofCount);
UrdfJoint.ChangeJointType(linkObject, UrdfJoint.JointTypes.Revolute);
articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.AreEqual(ArticulationJointType.RevoluteJoint, articulationBody.jointType);
Assert.AreEqual(1, articulationBody.dofCount);
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);
}
