C# (CSharp) Unity.Robotics.UrdfImporter.Joint Dynamics Examples

Example #1

File: UrdfJointTests.cs Project: ut-ims-robotics/unity_ros_navigation_demo

        public void SetDynamics_ArbitraryDynamics_Succeeds()
        {
            var        dynamics   = new Joint.Dynamics(1, 2);
            GameObject linkObject = new GameObject("link");
            var        joint      = linkObject.AddComponent <TestUrdfJoint>();

            joint.Dynamics(dynamics);

            var articulationBody = linkObject.GetComponent <ArticulationBody>();

            Assert.AreEqual(1, articulationBody.linearDamping);
            Assert.AreEqual(1, articulationBody.angularDamping);
            Assert.AreEqual(2, articulationBody.jointFriction);

            Object.DestroyImmediate(linkObject);
        }

Example #2

File: UrdfJointRevoluteTests.cs Project: ut-ims-robotics/unity_ros_navigation_demo

 public void Dynamics(Joint.Dynamics dynamics) => SetDynamics(dynamics);