public void Create_UrdfJointContinuous_Succeeds()
{
GameObject linkObject = new GameObject("link");
UrdfJoint joint = UrdfJointContinuous.Create(linkObject);
UrdfJoint urdfJoint = linkObject.GetComponent <UrdfJoint>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.IsTrue(joint is UrdfJointContinuous);
Assert.AreEqual(joint, urdfJoint);
Assert.AreEqual(ArticulationJointType.RevoluteJoint, articulationBody.jointType);
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 = UrdfJointContinuous.Create(linkObject);
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.AreEqual(0, articulationBody.xDrive.target);
joint.UpdateJointState(1);
Assert.AreEqual(1, articulationBody.xDrive.target);
Object.DestroyImmediate(baseObject);
}
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 = UrdfJointContinuous.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);
}
