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 +1,102 @@
+// 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;
+using UnityEngine.TestTools.Utils;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjSlideJointTests {
+
+  private GameObject _parent;
+  private MjSlideJoint _joint;
+  private XmlDocument _doc;
+  private Vector3EqualityComparer _comparer;
+
+  [SetUp]
+  public void SetUp() {
+    _parent = new GameObject("parent");
+    _joint = new GameObject("joint", typeof(MjSlideJoint)).GetComponent<MjSlideJoint>();
+    _joint.transform.parent = _parent.transform;
+    _doc = new XmlDocument();
+    _comparer = new Vector3EqualityComparer(1e-3f);
+  }
+
+  [TearDown]
+  public void TearDown() {
+    GameObject.DestroyImmediate(_parent);
+  }
+
+  [Test]
+  public void ComponentWorldPositionConvertedToMjCoordinates() {
+    _joint.transform.position = new Vector3(1, 2, 3);
+    _doc.AppendChild(_joint.GenerateMjcf("name", _doc));
+    Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
+  }
+
+  [Test]
+  public void GenerateLimits() {
+    _joint.RangeLower = -20;
+    _joint.RangeUpper = 10;
+    _doc.AppendChild(_joint.GenerateMjcf("name", _doc));
+    Assert.That(_doc.OuterXml, Does.Contain(@"range=""-20 10"""));
+  }
+
+  [Test]
+  public void TestingAnOffsetAxis() {
+    _joint.transform.rotation =
+        Quaternion.AngleAxis(45.0f, Vector3.up);
+    var element = _joint.GenerateMjcf("name", _doc);
+    Assert.That(element.GetVector3Attribute("axis", Vector3.zero),
+                Is.EqualTo(new Vector3(0.7071068f, -0.7071069f, 0)).Using(_comparer));
+  }
+
+  [Test]
+  public void ParsingPosition() {
+    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
+    jointElement.SetAttribute("pos", "1 2 3");
+    _joint.ParseMjcf(jointElement);
+    Assert.That(_joint.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
+  }
+
+  [TestCase("1 0 0", 1, 0, 0)]
+  [TestCase("0 1 0", 0, 0, 1)]
+  [TestCase("0 0 1", 0, 1, 0)]
+  public void ParsingTranslatesSlidexisIntoJointRotation(
+      string setting, float rx, float ry, float rz) {
+    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
+    jointElement.SetAttribute("axis", setting);
+    _joint.ParseMjcf(jointElement);
+    Assert.That(_joint.SlideAxis, Is.EqualTo(new Vector3(rx, ry, rz)).Using(_comparer));
+  }
+
+  [TestCase("0 10", 0, 10)]
+  [TestCase("-10 0", -10, 0)]
+  [TestCase("-10 10", -10, 10)]
+  public void ParsingJointLimitRangeSettings(
+      string setting, float expectedLow, float expectedHigh) {
+    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
+    jointElement.SetAttribute("range", setting);
+    _joint.ParseMjcf(jointElement);
+    Assert.That(_joint.RangeLower, Is.EqualTo(expectedLow));
+    Assert.That(_joint.RangeUpper, Is.EqualTo(expectedHigh));
+  }
+}
+}