Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
61 lines
2.2 KiB
C#
61 lines
2.2 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Xml;
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using NUnit.Framework;
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using UnityEngine;
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namespace Mujoco {
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[TestFixture]
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public class MjFixedTendonTests {
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private MjHingeJoint _joint1;
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private MjHingeJoint _joint2;
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private MjFixedTendon _tendon;
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private XmlDocument _doc;
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[SetUp]
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public void SetUp() {
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_joint1 = new GameObject("joint1").AddComponent<MjHingeJoint>();
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_joint2 = new GameObject("joint2").AddComponent<MjHingeJoint>();
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_tendon = new GameObject("tendon").AddComponent<MjFixedTendon>();
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_doc = new XmlDocument();
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}
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[TearDown]
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public void TearDown() {
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UnityEngine.Object.DestroyImmediate(_tendon.gameObject);
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UnityEngine.Object.DestroyImmediate(_joint1.gameObject);
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UnityEngine.Object.DestroyImmediate(_joint2.gameObject);
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UnityEngine.Object.DestroyImmediate(MjScene.Instance);
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}
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[Test]
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public void ParseAllSettings() {
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_doc.LoadXml("<fixed range='3 4'>" + "<joint joint='joint1' coef='1'/>" +
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"<joint joint='joint2' coef='2'/>" + "</fixed>");
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_tendon.ParseMjcf(_doc.GetElementsByTagName("fixed")[0] as XmlElement);
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Assert.That(_tendon.RangeLower, Is.EqualTo(3));
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Assert.That(_tendon.RangeUpper, Is.EqualTo(4));
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Assert.That(_tendon.JointList.Count, Is.EqualTo(2));
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Assert.That(_tendon.JointList[0].Joint, Is.EqualTo(_joint1));
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Assert.That(_tendon.JointList[0].Coefficient, Is.EqualTo(1.0f));
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Assert.That(_tendon.JointList[1].Joint, Is.EqualTo(_joint2));
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Assert.That(_tendon.JointList[1].Coefficient, Is.EqualTo(2.0f));
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}
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}
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}
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