UnityArticulationsTests

Simple test project created with Unity 2020.2.0a15.1993 to test articulations.

Instructions

Clone repository, open in aforementioned Unity editor.

Goal

I need to change the hierarchy of the articulation to be able to add it to another hierarchy as a child. This test consists of just two ArticulationBodys with a revolute joint. Flipping the hierarchy should ultimately result in an invisible change to the user by maintaining all position and joint velocities.