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 ExportSpecificJointData_Succeeds()
{
GameObject linkObject = new GameObject("link");
TestUrdfJointRevolute urdfJoint = linkObject.AddComponent <TestUrdfJointRevolute>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
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: "continuous", 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);
Assert.AreEqual(articulationBody.xDrive.lowerLimit * Mathf.Deg2Rad, joint.limit.lower);
Assert.AreEqual(articulationBody.xDrive.upperLimit * Mathf.Deg2Rad, joint.limit.upper);
Assert.AreEqual(articulationBody.xDrive.forceLimit, joint.limit.effort);
Assert.AreEqual(articulationBody.maxAngularVelocity, joint.limit.velocity);
Object.DestroyImmediate(linkObject);
}
public void ExportDefaultJointData_DefaultJoint_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;
Joint joint = UrdfJoint.ExportDefaultJoint(linkObject.transform);
Assert.AreEqual("base_link_joint", joint.name);
Assert.AreEqual("fixed", 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 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_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 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 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_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 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);
}
public Joint TestExportSpecificJointData(Joint joint)
{
unityJoint = gameObject.GetComponent <ArticulationBody>();
return(ExportSpecificJointData(joint));
}
public void TestImportJointData(Joint joint)
{
unityJoint = gameObject.GetComponent <ArticulationBody>();
ImportJointData(joint);
}
