Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
@@ -0,0 +1,80 @@
+// Copyright 2019 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+
+namespace Mujoco {
+  [TestFixture]
+  public class MjConnectTests {
+    private MjBody _body1;
+    private MjBody _body2;
+    private MjConnect _constraint;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _body1 = new GameObject("body1").AddComponent<MjBody>();
+      _body2 = new GameObject("body2").AddComponent<MjBody>();
+      _constraint = new GameObject("connect").AddComponent<MjConnect>();
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
+      UnityEngine.Object.DestroyImmediate(_body1.gameObject);
+      UnityEngine.Object.DestroyImmediate(_body2.gameObject);
+    }
+
+    [Test]
+    public void ErrorThrownWhenBody1Empty() {
+      // This is an illegal MJCF, but the purpose of this test is to verify that if
+      // the user didn't assign the body in the editor, an error will be thrown when play is hit.
+      _doc.LoadXml("<body/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
+      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    // In this constraint both elements are required.
+    [Test]
+    public void ErrorThrownWhenBody2Empty() {
+      _doc.LoadXml("<body body1='body1'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
+      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    [Test]
+    public void ParseXML() {
+      _doc.LoadXml("<connect body1='body1' body2='body2'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("connect")[0] as XmlElement);
+      Assert.That(_constraint.Body1, Is.EqualTo(_body1));
+      Assert.That(_constraint.Body2, Is.EqualTo(_body2));
+    }
+
+    [Test]
+    public void GenerateXML() {
+      _constraint.Body1 = _body1;
+      _constraint.Body2 = _body2;
+      var mjcf = _constraint.GenerateMjcf("name", _doc);
+      Assert.That(mjcf.OuterXml, Does.Contain("<connect"));
+      Assert.That(mjcf.OuterXml, Does.Contain("body1=\""));
+      Assert.That(mjcf.OuterXml, Does.Contain("body2=\""));
+    }
+  }
+}