public void Create_UrdfJointRevolute_Succeeds()
{
GameObject linkObject = new GameObject("link");
UrdfJoint joint = UrdfJointRevolute.Create(linkObject);
UrdfJoint urdfJoint = linkObject.GetComponent <UrdfJoint>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.IsTrue(joint is UrdfJointRevolute);
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 = 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);
}
private void Start()
{
urdfJoint = GetComponent <UrdfJointRevolute>();
}
