add unit tests for UrdfJoint

TestUrdfImporter/Packages/packages-lock.json

@@ -7,13 +7,20 @@
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
-    "com.unity.ext.nunit": {
+    "com.unity.editorcoroutines": {
       "version": "1.0.0",
       "depth": 1,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
+    "com.unity.ext.nunit": {
+      "version": "1.0.6",
+      "depth": 1,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.com"
+    },
     "com.unity.ide.rider": {
       "version": "2.0.7",
       "depth": 0,
@@ -68,7 +75,9 @@
       "version": "file:../../com.unity.robotics.urdf-importer",
       "depth": 0,
       "source": "local",
-      "dependencies": {}
+      "dependencies": {
+        "com.unity.editorcoroutines": "1.0.0"
+      }
     },
     "com.unity.searcher": {
       "version": "4.3.1",
@@ -77,6 +86,13 @@
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
+    "com.unity.settings-manager": {
+      "version": "1.0.1",
+      "depth": 1,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.com"
+    },
     "com.unity.shadergraph": {
       "version": "10.0.0-preview.27",
       "depth": 1,
@@ -88,16 +104,26 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.test-framework": {
-      "version": "1.1.18",
+      "version": "1.1.20",
       "depth": 0,
       "source": "registry",
       "dependencies": {
-        "com.unity.ext.nunit": "1.0.0",
+        "com.unity.ext.nunit": "1.0.6",
         "com.unity.modules.imgui": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0"
       },
       "url": "https://packages.unity.com"
     },
+    "com.unity.testtools.codecoverage": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.test-framework": "1.0.16",
+        "com.unity.settings-manager": "1.0.1"
+      },
+      "url": "https://packages.unity.com"
+    },
     "com.unity.textmeshpro": {
       "version": "3.0.1",
       "depth": 0,

com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJoint.cs

@@ -56,14 +56,12 @@ public enum JointTypes
         protected int defaultFriction = 0;
 
         public static void Create(GameObject linkObject, JointTypes jointType, Joint joint = null)
-        { 
-            #if UNITY_2020_1_OR_NEWER 
-             //ArticulationBody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent<ArticulationBody>();
+        {
+#if UNITY_2020_1_OR_NEWER
 #else
             Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent<Rigidbody>();
             if (parentRigidbody == null) return;
 #endif
-
             UrdfJoint urdfJoint = AddCorrectJointType(linkObject, jointType);
 
             if (joint != null)
@@ -197,33 +195,30 @@ protected static Vector3 GetDefaultAxis()
             return new Vector3(-1, 0, 0);
         }
 
-        protected static JointDrive GetJointDrive(Joint.Dynamics dynamics)
-        {
-            return new JointDrive
-            {
-                maximumForce = float.MaxValue,
-                positionDamper = (float)dynamics.damping,
-                positionSpring = (float)dynamics.friction
-            };
-        }
+        protected virtual void AdjustMovement(Joint joint) {}
 
-        protected static JointSpring GetJointSpring(Joint.Dynamics dynamics)
+        protected void SetDynamics(Joint.Dynamics dynamics)
         {
-            return new JointSpring
+            if (unityJoint == null)
             {
-                damper = (float)dynamics.damping,
-                spring = (float)dynamics.friction,
-                targetPosition = 0
-            };
-        }
+                unityJoint = GetComponent<ArticulationBody>();
+            }
 
-        protected static SoftJointLimit GetLinearLimit(Joint.Limit limit)
-        {
-            return new SoftJointLimit { limit = (float)limit.upper };
+            if (dynamics != null)
+            {
+                float damping = (double.IsNaN(dynamics.damping)) ? defaultDamping : (float)dynamics.damping;
+                unityJoint.linearDamping = damping;
+                unityJoint.angularDamping = damping;
+                unityJoint.jointFriction = (double.IsNaN(dynamics.friction)) ? defaultFriction : (float)dynamics.friction;
+            }
+            else
+            {
+                unityJoint.linearDamping = defaultDamping;
+                unityJoint.angularDamping = defaultDamping;
+                unityJoint.jointFriction = defaultFriction;
+            }
         }
 
-        protected virtual void AdjustMovement(Joint joint) {}
-
         #endregion
 
         #region Export
@@ -296,7 +291,7 @@ public void GenerateUniqueJointName()
             jointName = transform.parent.name + "_" + transform.name + "_joint";
         }
 
-        protected Joint.Axis GetAxisData(Vector3 axis)
+        protected static Joint.Axis GetAxisData(Vector3 axis)
         {
             double[] rosAxis = axis.ToRoundedDoubleArray();
             return new Joint.Axis(rosAxis);

com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointContinuous.cs

@@ -96,19 +96,8 @@ protected override void OnUpdateJointState(float deltaState)
 
         protected override void ImportJointData(Joint joint)
         {
-
             AdjustMovement(joint);
-
-            if (joint.dynamics != null)
-            {
-                unityJoint.angularDamping = (double.IsNaN(joint.dynamics.damping)) ? defaultDamping : (float)joint.dynamics.damping;
-                unityJoint.jointFriction = (double.IsNaN(joint.dynamics.friction)) ? defaultFriction : (float)joint.dynamics.friction;
-            }
-            else
-            {
-                unityJoint.angularDamping = 0; 
-                unityJoint.jointFriction = 0;
-            }
+            SetDynamics(joint.dynamics);
         }
 
         protected override Joint ExportSpecificJointData(Joint joint)

com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointPlanar.cs

@@ -25,7 +25,7 @@ public static UrdfJoint Create(GameObject linkObject)
         {
             UrdfJointPlanar urdfJoint = linkObject.AddComponent<UrdfJointPlanar>();
 #if UNITY_2020_1_OR_NEWER
-            urdfJoint.unityJoint = linkObject.AddComponent<ArticulationBody>();
+            urdfJoint.unityJoint = linkObject.GetComponent<ArticulationBody>();
             urdfJoint.unityJoint.jointType = ArticulationJointType.PrismaticJoint;
 #else
             urdfJoint.unityJoint = linkObject.AddComponent<ConfigurableJoint>();
@@ -59,19 +59,7 @@ protected override void ImportJointData(Joint joint)
         {
 #if UNITY_2020_1_OR_NEWER
             AdjustMovement(joint);
-
-
-
-            if (joint.dynamics != null)
-            {
-                unityJoint.linearDamping = (float)joint.dynamics.damping;
-                unityJoint.jointFriction = (float)joint.dynamics.friction;
-            }
-            else
-            {
-                unityJoint.linearDamping = 0;
-                unityJoint.jointFriction = 0;
-            }
+            SetDynamics(joint.dynamics);
 #else
             ConfigurableJoint configurableJoint = (ConfigurableJoint)unityJoint;
             Vector3 normal = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis();
@@ -93,6 +81,31 @@ protected override void ImportJointData(Joint joint)
 #endif
         }
 
+        private static JointDrive GetJointDrive(Joint.Dynamics dynamics)
+        {
+            return new JointDrive
+            {
+                maximumForce = float.MaxValue,
+                positionDamper = (float)dynamics.damping,
+                positionSpring = (float)dynamics.friction
+            };
+        }
+
+        private static JointSpring GetJointSpring(Joint.Dynamics dynamics)
+        {
+            return new JointSpring
+            {
+                damper = (float)dynamics.damping,
+                spring = (float)dynamics.friction,
+                targetPosition = 0
+            };
+        }
+
+        private static SoftJointLimit GetLinearLimit(Joint.Limit limit)
+        {
+            return new SoftJointLimit { limit = (float)limit.upper };
+        }
+
         #region Export
 
         protected override Joint ExportSpecificJointData(Joint joint)

com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointPrismatic.cs

@@ -116,16 +116,7 @@ protected override void OnUpdateJointState(float deltaState)
         protected override void ImportJointData(Joint joint)
         {
             AdjustMovement(joint);
-            if (joint.dynamics != null)
-            {
-                unityJoint.angularDamping = (double.IsNaN(joint.dynamics.damping)) ? defaultDamping : (float)joint.dynamics.damping;
-                unityJoint.jointFriction = (double.IsNaN(joint.dynamics.friction)) ? defaultFriction : (float)joint.dynamics.friction;
-            }
-            else
-            {
-                unityJoint.angularDamping = 0;
-                unityJoint.jointFriction = 0;
-            }
+            SetDynamics(joint.dynamics);
         }
 
         /// <summary>

com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointRevolute.cs

@@ -101,16 +101,7 @@ protected override void OnUpdateJointState(float deltaState)
         protected override void ImportJointData(Joint joint)
         {
             AdjustMovement(joint);
-            if (joint.dynamics != null)
-            {
-                unityJoint.angularDamping = (double.IsNaN(joint.dynamics.damping)) ? defaultDamping : (float)joint.dynamics.damping;
-                unityJoint.jointFriction = (double.IsNaN(joint.dynamics.friction)) ? defaultFriction : (float)joint.dynamics.friction;
-            }
-            else
-            {
-                unityJoint.angularDamping = 0;
-                unityJoint.jointFriction = 0;
-            }
+            SetDynamics(joint.dynamics);
         }
 
         protected override Joint ExportSpecificJointData(Joint joint)